Dockers for ROS

Prerequisites

1. Install Docker Engine and Docker Compose
2. If you are running this on a Raspberry Pi, you need to add swap for building librealsense:

Initial value is 100MB, but we need to build libraries so initial value isn't enough for that. In this case, need to switch from 100 to 2048 (2GB).

$ sudo vim /etc/dphys-swapfile
CONF_SWAPSIZE=2048

$ sudo /etc/init.d/dphys-swapfile restart swapon -s

3. Use docker without sudo

4. Fix broken docker-compose As docker-compose makes things more reproducable but is broken in the actual hypriot image, we will fix this by typing this in to the raspberry terminal:

sudo easy_install --upgrade pip
sudo pip uninstall docker docker-compose -y

sudo pip install requests==2.20.1
sudo pip install docker==3.7.2
sudo pip install docker-compose==1.23.0

5. We use Fabric to streamline build and development, to install Fabric:

pip install Fabric3
#or
sudo apt install fabric

Conventions

The directory should look like this

.
+-- docker-compose.yml
+-- dockers
|   +-- docker-ros-{name1}
|   |   +-- Dockerfile
|   |   +-- ...
|   +-- docker-ros-{name2}
|   |   +-- Dockerfile
|   |   +-- ...
+-- packages
|   +-- package1
|   +-- package2

All dockers should reside in the dockers folder, and the packages should be cloned into the packages folder as submodules and mounted to the containers.

Basic Usage

Building

We provide a build.sh script for building and pushing images, usage:

usage: ./build.sh image1 image2 ... imageN
Give the images to build. If no image is given, all folders in /dockers will be built.
Arguments:
  -h|--help: Usage
  -d|--dir: dockers directory. Default: dockers
  -r|--ros0distro: ros distibution. Default: kinetic

Examples:

./build.sh ros-gui ros-master #build specific images
./build.sh #build all 

Running

We provide a run.sh script for launching images, usage:

Usage:
Give the images to build. If no image is given, all folders in /dockers will be built.
Arguments:
  -h|--help: Usage
  -s|--start: Run dockers
  -b|--build: Start with build
  -a|--attached: Run in attached mode to see output
  -e|--end: Stop dockers

Examples:

./run.sh -s #start dockers
./run.sh -s -b #build and start dockers
./run.sh -s -a #start dockers in attached mode
./run.sh -e #end dockers

docker-ros-realsense

Docker for d415/d435 using ROS Dockerized ROS environment with Realsense support.

Credits

This project is inspired by docker-ros-d415, gobbit project and ROS Docker Tutorials.

Using stand-alone container with gui

xhost +local:root

docker run -it --rm \
    -e DISPLAY=$DISPLAY \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    -v $HOME/.Xauthority:$HOME/.Xauthority \
    --net=host \
    yuxiang-gao/ros-gui \
    /bin/bash

Using Docker Compose

1. Bring up the containers: docker-compose up -d
2. Check status docker ps
3. To enter interactive mode

$ docker exec -it master bash
$ source /ros_entrypoint.sh

4. Bring down the containers: Docker-compose down