/ROS2_moveit_docker

Dockerized ROS2 MoveIt

Primary LanguageDockerfileBSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

ROS2 MoveIt Docker

Building

A pre-built image is available on DockerHub.

To build the docker yourself (this can take a while), run docker build -t dawsonc/ros2_moveit from this directory.

Running

To launch the container with GUI access, run

docker run \
    --network=host \
    --device=/dev/dri:/dev/dri \
    -e DISPLAY=$DISPLAY \
    --volume=/tmp/.X11-unix:/tmp/.X11-unix \
    --user ros \
    -it \
    dawsonc/ros2_moveit \
    bash

To run through the MoveIt quickstart, start by launching the demo:

ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true

You should see an empty RViz window. Follow the instructions at MoveIt quickstart to play around with a MoveIt arm interface.

To run the C++ MoveIt interface demo, open two shells using the command above in different terminal windows. In the first shell, run

ros2 launch moveit2_tutorials move_group.launch.py

In the second shell, run

ros2 launch moveit2_tutorials move_group_interface_tutorial.launch.py