DOCKER-ROS

Installation

1. Install Docker
2. Install Docker Compose: https://docs.docker.com/compose/install/
3. Setup proxy: https://docs.docker.com/network/proxy/#use-environment-variables https://jingsam.github.io/2018/10/16/host-in-docker.html
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:

• ConSol/docker-headless-vnc-container
• QiayuanLiao/galaxy_camera
• cruise-automation/webviz
• code-iai/iai_kinect2