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.
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