Docker Images for portable libfranka execution for both franka_ros and franka_ros2.
The use of this repo requires Docker and the Docker Compose Plugin of minimum version 2. It is recommended to use Ubuntu as underlying operating system or at least a suitable WSL environment.
Get the repository with
git clone --recursive https://github.com/Fjakob/libfranka-docker.git
The libraries libfranka, franka_ros and franka_ros2 will be pulled as submodules upon cloning.
You might want to make sure to have the latest commit of all submodules by running
git submodule update --init --recursive
In the terminal, cd to the docker_launch_files directory. Dependent on whether you want to use franka_ros or franka_ros2, run either of the following
docker compose run franka_ros
docker compose run franka_ros2
or run
docker compose up
to start both containers.
To enable display mounting (e.g. for RVIZ or Gazebo), run
xhost +local:docker
on the host machine.
- The workspace in the container mirrors the docker_volume directory in a respective docker volume, such that changes made in the container are also visible on your host machine
- Using the VS Code Docker and Remote Development extension is recommended, to attach shells or VS code itself to the container.
- Note that franka_ros2 is currently (08/2024) beta software and yet encounter issues.