misc-hacks/ros-docker

Containerized ROS environments.

Quick Start for Desktop Images (18.04 and 20.04)

Here is an example starting script for running desktop images (applicable to melodic and foxy):

docker run -d \
  --name ros-desktop \
  --restart unless-stopped \
  --shm-size 1gb \
  -p 3389:3389 \
  ghcr.io/misc-hacks/ros:{the-version-you-want}

# Optional settings

# id and group for user abc
# -e PUID=$(id -u)
# -e PGID=$(id -g)

# home volume
# -v /path/to/data:/config

# workspace (please take care of the privilege problem)
# -v /path/to/ws:/workspace

# docker (the image has a docker client included)
# -v /var/run/docker.sock:/var/run/docker.sock

# usually mapping usb ports is desired
# --privileged -v /dev/bus/usb:/dev/bus/usb

Note the default user:password is abc:abc and make sure to change the password the first time you login.

Quick Start for Desktop Images (16.04)

Here is an example starting script for running desktop images (applicable to kinetic):

docker run -d \
  --name ros-desktop \
  --restart unless-stopped \
  --shm-size 1g \
  -p 3389:3389 \
  ghcr.io/misc-hacks/ros:{the-version-you-want}

# Optional settings

# ssh service
# -p 2222:22

# workspace (please take care of the privilege problem)
# -v /path/to/ws:/workspace

# usually mapping usb ports is desired
# --privileged -v /dev/bus/usb:/dev/bus/usb

Note the default user:password is ubuntu:ubuntu and make sure to change the password the first time you login.

General Tips for Desktop Images

Containers running remote desktop services may suffer from poor video performance. To help a bit, you are suggested to disable display compositing:

• Goto
  • Applications (at the top-left corner of the desktop)
  • Settings (menu)
  • Window Manager Tweaks (sub-menu)
  • Compositor (tab)
• Uncheck "Enable display compositing"