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Docker.md

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Introduction

There are two containers in one docker network. One of them contains the ros melodic environment and all dependencies of arena-rosnav. The other one is used to forward the graphic siganl of the previous container to make GUI such as rviz visible in the browser.

Install docker

Ubuntu: https://cnvrg.io/how-to-setup-docker-and-nvidia-docker-2-0-on-ubuntu-18-04/

Mac: https://docs.docker.com/docker-for-mac/install/

Windows: https://docs.docker.com/docker-for-windows/install/

Create containers

  1. Clone the repository
git clone https://github.com/ignc-research/arena-rosnav
  1. Go into the arena-rosnav folder
cd arena-rosnav
  1. Create network for two containers
docker network create -d bridge x11
  1. Run the first container for ros
docker run -d \
--name ros \
--network=x11 \
-e DISPLAY=novnc:0.0 \
-v $PWD:/root/arena_ws/src/arena-rosnav \
llalal/docker:arena-rosnav \
tail -f /dev/null
  1. Run the second container for display
docker run -d \
--name novnc \
--network=x11 \
-e DISPLAY_WIDTH=1920 \
-e DISPLAY_HEIGHT=1080 \
-e RUN_XTERM=no \
-p 8080:8080 \
theasp/novnc:latest
  1. Run docker ps to check if two containers are already running

Enter and exit ros container

  1. Enter the ros container
docker exec -it ros /bin/zsh

For cases where multiple terminals need to be opened for testing, open multiple local terminals and enter the container with the same command (It's better to use VS Code, which is more convenient. The instruction is at the end)

  1. Exit the container Input exit in the command line
  2. Stop the container (exit the container firstly)
docker stop ros
  1. Restart the container if it exists already
docker restart ros

Show GUI in browser

  1. Open http://localhost:8080/vnc.html (If you run docker on the remote host, open http://YOUR_HOST_IP_ADDRESS:8080/vnc.html )
  2. You can adjust the window size to automatic local scale or set fullscreen through the side bar on the left

Develop in VS Code

  1. Necessary extensions in VS Code
    • Remote Development
    • Docker
  2. After executing steps in "Create containers" part, enter the container by VS Code
    a) Open Command Palette by F1 or CMD + Shift + p (windows Ctrl + Shift + p)
    b) Input Attach to Running Container and select Remote-Containers: Attach to Running Container
    c) Then select container named /ros
    Now the VS Code will open a new window
    d) Select and open the folder you want by CMD + o (windows Ctrl + o)