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ABB_DUAL_ARM with Docker

The abb_dual_arm package can be tested inside of a Docker container to isolate all software and dependency changes from the host system. This document describes how to create and run a Docker image that contains a complete ROS and system environment for abb_dual_arm.

The current configuration was tested on an x86 host computer running Ubuntu 20.04 with Docker 24.0.1.

Steps

  1. Download ABB_DUAL_ARM
git clone https://github.com/RMDLO/abb_dual_arm.git abb_dual_arm
  1. Build the Docker Image
cd abb_dual_arm/docker && docker build -t rmdlo-abb_dual_arm:noetic -f Dockerfile.noetic ..

This will take several minutes and require connection to the internet. This command will install all dependencies and build the abb_dual_arm ROS package within an abb_ws catkin workspace within the image. If the image is built successfully, find the abb_dual_arm package in the /root/abb_ws/abb_dual_arm directory.

  1. Connect a Robot Controller

Docker will not recognize a device that is plugged in after the container is started. Connect the robot controller to the computer. If the robot controller does not connect, check the listening port numbers in abb_driver/robot_interface.launch and in lines 34 and 35 of docker/run_docker.sh

  1. Run the Container
$ ./run_docker.sh [name] [host dir] [container dir]

Optional Parameters:

  • name specifies the name of the image. By default, it is abb_dual_arm. Multiple containers can be created from the same image by changing this parameter.
  • host dir and container dir map a directory on the host machine to a location inside the container. This enables sharing code and data between the two systems. By default, the run_docker.sh bash script maps the directory containing abb_dual_arm to /root/abb_ws/src/abb_dual_arm in the container.

Only the first call of this script with a given name will create a container. Subsequent executions will attach to the running container to enable running multiple terminal sessions in a single container.

Note: Since the Docker container binds directly to the host's network, it will see roscore even if running outside the docker container.

  1. Launch

Follow the instructions in the repository README.md to run motion planning with the robots in simulation or on hardware. Note: using the real robots assumes connecting to ports 11000/11002 (robot mp) and 12000/12002 (robot mp_m), as configured in abb_driver/robot_interface.launch. For more information on configuring listening ports with the virtual controller, see here.

For more information about using ROS with docker, see the ROS tutorial.