{"id":22563736,"url":"https://github.com/j3soon/docker-ros-husky","last_synced_at":"2026-04-10T06:49:17.115Z","repository":{"id":203964153,"uuid":"705723793","full_name":"j3soon/docker-ros-husky","owner":"j3soon","description":"Docker image for Clearpath's Husky A200 on ROS 1 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Docker image for Clearpath's Husky A200 on ROS 1 Melodic\n\n[\u003cimg src=\"https://img.shields.io/badge/dockerhub-image-important.svg?logo=docker\"\u003e](https://hub.docker.com/r/j3soon/ros-melodic-husky/tags)\n\n\u003e Although this repo should still function as intended, future updates for ROS 2 will be maintained at [j3soon/ros2-essentials](https://github.com/j3soon/ros2-essentials/tree/main/husky_ws).\n\n## Prerequisites\n\nHardware:\n\n- Husky base\n- Power supply cable (for recharging the battery)\n- USB cable\n\nWe choose not to use the MINI-ITX computer, and control Husky directly through a Jetson board or laptop.\n\nMore information such as User Guide and Manual Installation steps can be found in [this post](https://j3soon.com/cheatsheets/clearpath-husky/).\n\n## Installation\n\nClone the repo:\n\n```sh\ngit clone https://github.com/j3soon/docker-ros-husky.git\ncd docker-ros-husky\n```\n\nInstallation of udev rules must be done on the host machine:\n\n```sh\n./setup_udev_rules.sh\n```\n\nYou should see `done` if everything works correctly.\n\nYou need to reboot the host machine to make the udev rules take effect.\n\n## Teleoperation\n\n```sh\nsudo apt-get update \u0026\u0026 sudo apt-get install -y docker.io docker-compose\n# Connect and power on husky\ndocker-compose up -d\n./docker-exec-bringup.sh\n# Open a new terminal\n./docker-exec-teleop.sh\n# Control husky with keyboard\n# Press Ctrl+C to exit\ndocker-compose down\n```\n\nThe [pre-built docker images](https://hub.docker.com/r/j3soon/ros-melodic-husky/tags) will be pulled automatically.\n\nAlthough the docker container support hot plugging, if Husky is re-plugged or re-booted, you still need to re-run the following commands:\n\n```sh\n./docker-exec-bringup.sh\n./docker-exec-teleop.sh\n```\n\n## Build Docker Images Locally\n\n- On amd64 machine:\n\n  ```sh\n  docker build -f Dockerfile -t j3soon/ros-melodic-husky:latest .\n  ```\n\n- On arm64 machine:\n\n  ```sh\n  docker build -f Dockerfile.jetson -t j3soon/ros-melodic-husky:latest .\n  ```\n\nIf you want to build an image that supports multiple architectures, please refer to the [build workflow](./.github/workflows/build.yaml).\n\n## Third Party Scripts\n\n- `thirdparty/files/udev/60-ros-melodic-husky-bringup.rules` is copied from: \u003chttps://github.com/husky/husky/blob/melodic-devel/husky_bringup/debian/udev\u003e (commit cf7a47e)\n- `thirdparty/50-clearpath.list` is copied from: \u003chttps://github.com/clearpathrobotics/public-rosdistro/blob/master/rosdep/50-clearpath.list\u003e (commit 1e88245)\n- `thirdparty/*` is copied from: \u003chttps://github.com/clearpathrobotics/ros_computer_setup/tree/main\u003e (commit 90de83b)\n  - `thirdparty/install.sh` is further modified to meet our needs.\n\n## Uninstall\n\nUninstallation of udev rules must be done on the host machine:\n\n```sh\n./remove_udev_rules.sh\n```\n\nYou should see `done` if everything works correctly.\n\n## Tests\n\nLast tested manually on 2023/10/26:\n\n- Ubuntu 18.04.6 LTS (amd64) on Intel CPU\n\nLast tested manually on 2023/10/27:\n\n- Ubuntu 20.04.6 LTS (arm64) on Jetson AGX Xavier (Jetpack 5.1.2)\n\n## Troubleshooting\n\n- Most command failures can be resolved by simply re-running the command or rebooting Husky.\n- Exec into the container with bash for debugging:\n  ```sh\n  ./docker-exec-debug.sh\n  ```\n- See [this post](https://j3soon.com/cheatsheets/robot-operating-system/) for troubleshooting ROS.\n- See [this post](https://j3soon.com/cheatsheets/clearpath-husky/) for troubleshooting Husky.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fj3soon%2Fdocker-ros-husky","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fj3soon%2Fdocker-ros-husky","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fj3soon%2Fdocker-ros-husky/lists"}