This repository hosts the Docker configuration and supporting scripts necessary to create a Docker image that integrates ROS 2 with MoveIt 2 and Rosbridge. The primary function is to control a Franka Emika robot using MoveIt Servo and send the joint states to frontend applications via a ROSBridge WebSocket server.
- Clone the Repo 📥
git clone git@github.com:openroboticmetaverse/ros2-tdsi-backend.git
cd ros2-tdsi-backend
- Run the following script to automatically determine joytick device ID 🕹️
./configure.sh
- Run Docker Compose 🐳
docker compose up -d
The WebSocket server is available at ws://localhost:9090
.