{"id":20492322,"url":"https://github.com/husarnet/ros-docker","last_synced_at":"2025-09-03T15:44:04.971Z","repository":{"id":63667364,"uuid":"567902157","full_name":"husarnet/ros-docker","owner":"husarnet","description":"ROS docker images with built-in configs for Husarnet VPN","archived":false,"fork":false,"pushed_at":"2025-07-24T14:58:58.000Z","size":144,"stargazers_count":2,"open_issues_count":1,"forks_count":1,"subscribers_count":4,"default_branch":"main","last_synced_at":"2025-08-21T10:48:04.234Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Shell","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/husarnet.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2022-11-18T21:25:25.000Z","updated_at":"2025-07-21T10:11:57.000Z","dependencies_parsed_at":"2024-11-15T17:33:19.150Z","dependency_job_id":"237427c3-219c-4dd9-918c-4a51c736886b","html_url":"https://github.com/husarnet/ros-docker","commit_stats":null,"previous_names":[],"tags_count":1,"template":false,"template_full_name":null,"purl":"pkg:github/husarnet/ros-docker","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/husarnet%2Fros-docker","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/husarnet%2Fros-docker/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/husarnet%2Fros-docker/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/husarnet%2Fros-docker/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/husarnet","download_url":"https://codeload.github.com/husarnet/ros-docker/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/husarnet%2Fros-docker/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":273467706,"owners_count":25111131,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-09-03T02:00:09.631Z","response_time":76,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-15T17:28:36.172Z","updated_at":"2025-09-03T15:44:04.919Z","avatar_url":"https://github.com/husarnet.png","language":"Shell","funding_links":[],"categories":[],"sub_categories":[],"readme":"# ros\n\nROS docker images with built-in configs for Husarnet VPN.\n\n[![Build/Publish Docker Image](https://github.com/husarnet/ros/actions/workflows/build_push_test.yaml/badge.svg)](https://github.com/husarnet/ros/actions/workflows/build_push_test.yaml)\n\n## How to use it?\n\n### `Dockerfile`\n\n```Dockerfile\nFROM husarnet/ros:humble-ros-base\n\n# install ROS package using apt repository ...\nRUN apt-get update \u0026\u0026 apt-get install -y \\\n        ros-$ROS_DISTRO-demo-nodes-cpp \u0026\u0026 \\\n    rm -rf /var/lib/apt/lists/*\n\n# WORKDIR where you build ROS2 packages should point to /ros2_ws - this directory is used in the ENTRYPOINT\nWORKDIR /ros2_ws \n\n# ... or from sources\nRUN mkdir src \u0026\u0026 \\\n    git clone https://github.com/husarion/rosbot_ros.git src/rosbot_ros -b humble \u0026\u0026 \\\n    rosdep update --rosdistro $ROS_DISTRO \u0026\u0026 \\\n    rosdep install --from-paths src --ignore-src -y \u0026\u0026 \\\n    source /opt/ros/$ROS_DISTRO/setup.bash \u0026\u0026 \\\n    colcon build\n\n# ENTRYPOINT [\"/ros_entrypoint.sh\"] Do not override the entrypoint - this is where magic happens\nCMD ros2 run demo_nodes_cpp talker\n```\n\nbuild with:\n\n```\ndocker build -t chatter:humble .\n```\n\n### `compose.yaml`\n\nFor computers/robots in the same Husarnet network:\n\n#### **Fast DDS** - simple discovery\n\n```yaml\nservices:\n  chatter:\n    image: chatter:humble\n    network_mode: host\n    ipc: host\n    environment:\n      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp\n      - FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds-simple.xml # place here a path to NON-EXISTING file - it will be created in entrypoint with a Husarnet config\n    command: ros2 run demo_nodes_cpp talker\n```\n\n```yaml\nservices:\n  chatter:\n    image: chatter:humble\n    network_mode: host\n    ipc: host\n    environment:\n      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp\n      - FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds-simple.xml # place here a path to NON-EXISTING file - it will be created in entrypoint with a Husarnet config\n    command: ros2 run demo_nodes_cpp listener\n```\n\n#### **Fast DDS** - discovery server\n\nFirst, run the discovery server on the 1st device (we assume further that the Husarnet hostname of a discovery server device is `ds`)\n\n```yaml\nservices:\n  discovery-server:\n    image: husarnet/ros:humble-ros-core\n    network_mode: host\n    ipc: host\n    environment:\n      - DISCOVERY_SERVER_PORT=11811\n    command: fast-discovery-server -x /dds-husarnet-ds.xml\n```\n\nLaunching ROS nodes on two separate devices:\n\n```yaml\nservices:\n  chatter:\n    image: chatter:humble\n    network_mode: host\n    ipc: host\n    environment:\n      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp\n      - FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds-ds.xml\n      - ROS_DISCOVERY_SERVER=ds:11811 # ds is a hostname of the device running Discovery Server and 11811 is a port we specifed in DISCOVERY_SERVER_PORT env\n    command: ros2 run demo_nodes_cpp talker\n```\n\n```yaml\nservices:\n  chatter:\n    image: chatter:humble\n    network_mode: host\n    ipc: host\n    environment:\n      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp\n      - FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds-ds.xml\n      - ROS_DISCOVERY_SERVER=ds:11811 # ds is a hostname of the device running Discovery Server and 11811 is a port we specifed in DISCOVERY_SERVER_PORT env\n    command: ros2 run demo_nodes_cpp listener\n```\n\n#### **Cyclone DDS** - simple discovery\n\n```yaml\nservices:\n  chatter:\n    image: chatter:humble\n    network_mode: host\n    ipc: host\n    environment:\n      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp\n      - CYCLONEDDS_URI=file:///cyclonedds-simple.xml # place here a path to NON-EXISTING file - it will be created in entrypoint with a Husarnet config\n    command: ros2 run demo_nodes_cpp talker\n```\n\n```yaml\nservices:\n  chatter:\n    image: chatter:humble\n    network_mode: host\n    ipc: host\n    environment:\n      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp\n      - CYCLONEDDS_URI=file:///cyclonedds-simple.xml # place here a path to NON-EXISTING file - it will be created in entrypoint with a Husarnet config\n    command: ros2 run demo_nodes_cpp listener\n```","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhusarnet%2Fros-docker","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fhusarnet%2Fros-docker","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhusarnet%2Fros-docker/lists"}