gabrielsluz/ros_docker

ROS Docker

Credit: https://github.com/gramaziokohler/ros_docker

ROS: ros-noetic-desktop-full

Useful for:

• Running ROS in docker
• Running GUI through VNC in the browser

SETUP

Build ros image

cd ros-noetic-desktop-full/
docker build --rm -f Dockerfile -t ros-noetic-desktop-full .

Launch roscore

cd ..
docker-compose up -d

Run a ros node with mounted dir in catkin_ws/src

docker run --name ros_node0 --network ros_default -e DISPLAY=ros_web_gui_1:0.0 -e ROS_MASTER_URI=http://ros-core:11311 -v /Users/zeba/Desktop/Mestrado/robotica/git_reps/smb_common:/root/catkin_ws/src/smb_common -it ros-noetic-desktop-full bash

ALTERAR PARA SER UM DIRETÓRIO GENÉRICO NO QUAL É SÓ PARA PEGAR E COPIAR OU SYMLINK

Run a ros node without mount

docker run --name ros_node1 --network ros_default -e DISPLAY=ros_web_gui_1:0.0 -e ROS_MASTER_URI=http://ros-core:11311 -it ros-noetic-desktop-full bash

Access GUI in http://0.0.0.0:8080/vnc.html

Stop:

docker-compose stop

Check for dependencies:

rosdep check --from-paths /root/catkin_ws/src --ignore-src

Install dependencies

rosdep install -y --from-paths . --ignore-src --rosdistro noetic

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Packages to install:

• python3-catkin-tools # Would have to modify DockerFile to use catkin build