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DOCKER-ROS

build status

Installation

  1. Install Docker
  2. Install Docker Compose: https://docs.docker.com/compose/install/
  3. Setup proxy: https://docs.docker.com/config/daemon/systemd/
  4. Setup workspace:
    bash install.sh
    
  5. Build images:
    bash build.sh
    
    Or, you can also pull images from Docker Hub instead of building them:
    bash pull.sh
    

Test & Usage

  1. Test ROS container:

    cd chatter
    docker-compose up
    

    You should see:

    listener_1    | data: "hello"
    listener_1    | ---
    listener_1    | data: "hello"
    listener_1    | ---
    ...
    
  2. Development environment: including VNC, novnc (a web-based VNC client), zsh, tilix, conda

    docker-compose run --service-ports vnc
    

    Then you should be able to visit the desktop at http://localhost:6901/vnc.html?password=rv666.

  3. Galaxy camera: To launch Galaxy camera in ROS, run:

    docker-compose run --service-ports camera
    

    Images will be published at topic /galaxy_camera/image_color.

  4. Webviz: Webviz is a web-based application for playback and visualization of ROS bag files.

    cd webviz
    docker-compose up
    

    Then you should be able to visit the desktop at http://localhost:7901/?rosbridge-websocket-url=ws://localhost:9090.

  5. Microsoft Kinect: This image is not built by default. To build it, run:

    docker build -t tccoin/docker-ros:kinect kinect
    

    Detailed usage can be found in code-iai/iai_kinect2.

Acknowledgement

Hugh thanks to the following repositories / projects:

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