coros: A Dockerfile repository from jacknlliu

Jumpstart ROS developent with no headache! Full browser support. OpenGL support with no need of a physically atachted GPU.

📦 Included

ROS

full ros distro (currently melodic)
rqt and all plugins
rviz

IDE (accessible through the browser)

full python (2.7) environment
visual studio code server

🏃 Start the service

There are two provided start and stop scripts - one for windows, the other one for unix systems. First pull the github project to get these scripts with git clone https://github.com/gismo07/coros.git.

windows

cd utils-windows
.\start-windows.cmd

unix

cd utils
.\start.sh

💻 Access the environment

to open the IDE, simply open the browser and go to localhost:80
The password is currently set to dev@ros
to see rviz or some other gui stuff, open another browser tab localhost:6080/vnc.html and click connect

💾 Data storage

Per default all perisistent data is located at the host pc (assuming windows for now) under C:/ros-persistent-data. Create this folder before starting the container.

How to bind to a local folder

If you want to bind a existing folder of the host to the docker container, the docker-compose.yaml file is used for that. For each folder, a new volume section has to be added:

        volumes:
            - type: bind
              source: /<PATH_TO_FOLDER_ON_HOST>
              target: /<TARGET_DESTINATION_ON_THE_CONTAINER>
              volume:
                nocopy: true  # just keep that

🔧 Configuration

The environment comes shipped with a docker-compose.yaml to start the service and manage some parameters:

version: '3.7'
services:
    headless-ros-vnc:
        ports:
            - '80:8080'
            #- '5900:5900'
            - '6080:6080'
        volumes:
            - type: bind
              source: C:/ros-persistent-data
              target: /my_ros_data
              volume:
                nocopy: true
        image: johannhaselberger/coros

coros makes use of three open ports:

8080: access to visual studio code server
5900: the default vnc port (could be theoretically accessed with any vnc client, however, as the port is forwarded via noVNC that's not intended)
6080: access to the novnc web interface

Important: for each instance of coros these ports have to be assigned to available host-ports!

😱 Known issues

VNC not working

If the noVNC server is not accessable through the web interface, the virtual network has to be reseted:

docker-compose stop
docker container prune -f
docker network prune -f

After that you can start the service again.

Mounting errors on windows

start docker with admin rights
right click on the docker system tray icon -> Settings
Under Shared Drives set the checkbox for the C drive

Access denied errors

Try to start the service with sudo rights. On windows open our shell with admin rights.

Operating system linux cannot be used on this platform error

This is mainly a windows error. Right klick on the docker tray icon and select switch to linux containers.

I can see some remote topics, however no data can be received

That's a very common ROS network issue:

make sure you can ping the remote machine
add all remote host names and your own host name to \etc\hosts on all machines
restart the ROS master

jacknlliu/coros