rosbot_dockers

Will be replaced soon by two other repositories:

• https://github.com/husarion/rviz2-rosbot-docker
• https://github.com/husarion/tigervnc-client-docker

This repository contains docker images meant for remote controlling rosbot and rosbot_pro.

Content

• rviz image automatically launches rviz2 with configuration suited for rosbot and navigation2 packages.
• vnc client image launches TigerVNC client that connects with rosbot server and allowes for remote access in graphical mode.

Prerequisites

Building and running docker containers requires the docker to be installed on host computer. Docker can be installed using following instruction: https://docs.docker.com/engine/install/ubuntu/

Moreover, since we want the containers to launch GUI visible to host system nvidia-docker needs to be installed. Instructions can be found in Nvidia doc: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html

Rviz container

Rviz container is an image build on top of osrf/ros:foxy-desktop image. It can be build by using rviz/build_image.sh and launched by rviz/run_image.sh. Default rviz2 configuration can be changed by replacing rviz/resources/config.rviz file and rebuilding the image.

Rviz container should be launched in the same network as rosbot running navigation_demo.

VNC client container

VNC client container can be build with tiger_vnc/build_image.sh and lauched with tiger_vnc/run_image.sh. VNC server should be automatically launched on rosbot on startup. run_image.sh script requires rosbot IP address as a console argument eg. run_image.sh 192.168.10.100.

In case of any problems VNC connections are covered in this tutorial: https://husarnet.com/blog/remote-desktop-over-internet