ros-docker

Integrating ROS with docker

Usage

Install Docker:

• Mac

• Ubuntu

Build docker image:

$ docker build --tag ros-docker . 

Run image:

$ docker run -it ros-docker

Run Demo Application

The demo application consist in an executable that publishes keys strokes pressed (key_publisher.py) and another executable that reads those published keys (keys_to_twist.py) and transform them into velocity commands.

First a docker network must be created, run:

$ docker network create ros_net

Next, roscore must be initialized, run:

$ docker run -it --rm --net ros_net  --name master --env ROS_HOSTNAME=master ros:melodic roscore 

Now, the desired applications can be run as following:

Key publisher:

$ docker run -it --rm  --net ros_net  --name key_publisher --env ROS_HOSTNAME=key_publisher --env ROS_MASTER_URI=http://master:11311 ros-docker  rosrun keyboard_driver key_publisher.py 

Key to twist:

$ docker run -it --rm --net ros_net --name keys_to_twist --env ROS_HOSTNAME=keys_to_twist --env ROS_MASTER_URI=http://master:11311 ros-docker  rosrun keyboard_driver keys_to_twist.py 

If you want to inspect the data being exchange by ros you can run another container without running any commands, as follows:

$ docker run -it --rm --net ros_net  --name echo --env ROS_HOSTNAME=echo --env ROS_MASTER_URI=http://master:11311 ros:melodic

Then run rostopic, rosmsg etc.

Customize

Run a package that is located in you computer in the ros container

Copy your own package

RUN catkin_create_pkg YOUR_PACKAGE_NAME
COPY PACKAGE_LOCATION_ON_YOUR_COMPUTER /catkin_ws/src/YOUR_PACKAGE_NAME

Run your package

$ docker run -it ros-docker rosrun YOUR_PACKAGE_NAME EXECUTABLE

Check the Run Demo Application section for an example on how to run a full application.

More information about running: https://hub.docker.com/r/library/ros/