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Reachy 2023 with Docker

Small example about using reachy in a Docker environment

Install Docker

What is Docker?

Docker is a platform that simplifies the process of creating, deploying, and running applications using containers. Containers are lightweight and portable, allowing you to package your application and its dependencies into a single unit that can run consistently across different environments.

Why Use Docker?

Using Docker ensures that your development environment is consistent across different machines and operating systems. It eliminates issues related to software dependencies and environment setup, making it easier to onboard new users of Reachy environment.

More info in https://docs.docker.com/engine/install/ubuntu/

TL;DR :

Apt repo

# Add Docker's official GPG key:
sudo apt-get update
sudo apt-get install ca-certificates curl gnupg
sudo install -m 0755 -d /etc/apt/keyrings
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
sudo chmod a+r /etc/apt/keyrings/docker.gpg

# Add the repository to Apt sources:
echo \
  "deb [arch="$(dpkg --print-architecture)" signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
  "$(. /etc/os-release && echo "$VERSION_CODENAME")" stable" | \
  sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
sudo apt-get update

Install

sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin

(Optional) If you don't want to put sudo before every Docker command, we recommend :

sudo groupadd docker
sudo usermod -aG docker $USER
newgrp docker

Test it

docker run hello-world

Reachy 2023

Start

You may launch the reachy_2023 container, if not already installed then

git clone https://github.com/pollen-robotics/reachy_2023.git

Move to reachy_2023/docker then

docker compose up -d

Then connect to it with

docker exec -it reachy_2023 bash

Once in reachy_2023 environment, you can launch the whole stack, either in fake mode

ros2 launch reachy_bringup reachy.launch.py start_sdk_server:=true fake:=true start_rviz:=true

or with gazebo backend for simulation

ros2 launch reachy_bringup reachy.launch.py start_sdk_server:=true gazebo:=true start_rviz:=true

Go to the A simple SDK test section to try it out!

Development

Alternatively, you can use the reachy_2023 container as a development environment. Launch it with

docker compose -f mode/dev.yaml up -d

reachy_2023 sources will be mounted as volumes into your container, from the reachy_2023 repository on your host machine to /opt/reachy_ws/src/reachy_2023 in your container

Build

You can build the sources with

build # build sources
builds # build sources and source the whole ROS environment
cbuilds # clean build sources and source the ROS environment

These commands must be done inside the container, so in a terminal where you connected with "docker exec -it reachy_2023 /bin/bash"

If in doubt, you should recompile after any source update (also this should not be needed if the modified files are only python)

Stop

You can stop the reachy_2023 container with

docker compose down

or

docker compose -f mode/dev.yaml down # if you launched the dev mode

A simple SDK test

Log in

docker exec -it reachy_2023 /bin/bash

then

python3

from reachy_sdk import ReachySDK
reachy = ReachySDK(host='127.0.0.1')
reachy.r_arm.r_elbow_pitch.goal_position = -90

From local machine

You can use the same steps to access your reachy_2023 environment from your machine, outside of docker. Use 127.0.0.1 as an adress and mind having set a ROS_DOMAIN_ID env variable before launching the compose and your python shell with the Reachy SDK