ros-docker

Installation script for Robot Operating System

This is a fully-automated installation script for ROS on Docker. It is set to use the boot2docker host as an X display, bash as the default shell, and nano as the default editor.

USAGE:

Build the images:

docker build -t ros:indigo - < ros-base:indigo.dockerfile
docker build -t ros-desktop:indigo - < ros-desktop:indigo.dockerfile

Run ROS desktop in a container:

docker run -it -v $HOME:$HOME -e HOME=$HOME -w $PWD ros-desktop

Run ROS desktop in a container so that rviz and X work (if rviz does not render properly, kill it with Control-C and start it again):

XAUTH=/tmp/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
sudo docker run -it -v $HOME:$HOME -e HOME=$HOME -w $PWD -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v $XAUTH:$XAUTH -e XAUTHORITY=${XAUTH} -e QT_X11_NO_MITSHM=1 ros-desktop:indigo

Run ROS core in a container and connect to it:

docker run -it -p 11311:11311 ros
export ROS_MASTER_URI=http://${DOCKER_HOST}:11311/
rosrun turtlesim turtlesim_node

Rebuild image when updates come out:

docker build --no-cache -t ros:indigo - < ros-base:indigo.dockerfile
docker build -t ros-desktop:indigo - < ros-desktop:indigo.dockerfile