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https://github.com/gramaziokohler/ros_docker
Docker images for ROS master, bridge and nodes
https://github.com/gramaziokohler/ros_docker
docker docker-image moveit ros ros-kinetic
Last synced: 37 minutes ago
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Docker images for ROS master, bridge and nodes
- Host: GitHub
- URL: https://github.com/gramaziokohler/ros_docker
- Owner: gramaziokohler
- License: mit
- Created: 2018-08-28T12:40:04.000Z (about 6 years ago)
- Default Branch: master
- Last Pushed: 2023-04-23T19:47:56.000Z (over 1 year ago)
- Last Synced: 2024-08-02T15:46:30.618Z (3 months ago)
- Topics: docker, docker-image, moveit, ros, ros-kinetic
- Language: Dockerfile
- Size: 353 KB
- Stars: 76
- Watchers: 18
- Forks: 17
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# ROS Docker files
> ROS Noetic images: a containerized version of various ROS nodes.
This repository provides `Dockerfile` files to run [ROS](https://ros.org) inside [Docker](https://www.docker.com/) containers:
## Base ROS Noetic image
[](https://hub.docker.com/r/gramaziokohler/ros-noetic-base)
[](https://microbadger.com/images/gramaziokohler/ros-noetic-base)
$ docker pull gramaziokohler/ros-noetic-base
Contains ROS and tools to use it over websockets with `rosbridge-suite`.
## ROS Noetic + MoveIt!
[](https://hub.docker.com/r/gramaziokohler/ros-noetic-moveit)
[](https://microbadger.com/images/gramaziokohler/ros-noetic-moveit)
$ docker pull gramaziokohler/ros-noetic-moveit
Contains MoveIt! configured with the packages for ABB, UR and Franke Emika (Panda) robots.
## X11 NoVNC display container
[](https://hub.docker.com/r/gramaziokohler/novnc)
[](https://microbadger.com/images/gramaziokohler/novnc)
$ docker pull gramaziokohler/novnc
Display X11 applications (e.g. `RViz`) from other containers directly in the browser.
## How to use
First, make sure [Docker](https://www.docker.com/) is installed on your system.
### Building the docker images
These images are built and published by Github Actions on every push.
If a push includes a tag, the images will also be tagged with it.
### Using the containers
1. Copy & Paste the following content into a `docker-compose.yml` file in your computer:
```yaml
version: '2'
services:
moveit-demo:
image: gramaziokohler/ros-noetic-moveit
container_name: moveit-demo
environment:
- ROS_HOSTNAME=moveit-demo
- ROS_MASTER_URI=http://ros-core:11311
depends_on:
- ros-core
command:
- roslaunch
- --wait
- panda_moveit_config
- demo.launch
- use_rviz:=false
ros-core:
image: gramaziokohler/ros-noetic-moveit
container_name: ros-core
ports:
- "11311:11311"
command:
- roscore
ros-bridge:
image: gramaziokohler/ros-noetic-moveit
container_name: ros-bridge
environment:
- "ROS_HOSTNAME=ros-bridge"
- "ROS_MASTER_URI=http://ros-core:11311"
ports:
- "9090:9090"
depends_on:
- ros-core
command:
- roslaunch
- --wait
- rosbridge_server
- rosbridge_websocket.launch
ros-fileserver:
image: gramaziokohler/ros-noetic-moveit
container_name: ros-fileserver
environment:
- ROS_HOSTNAME=ros-fileserver
- ROS_MASTER_URI=http://ros-core:11311
depends_on:
- ros-core
command:
- roslaunch
- --wait
- file_server
- file_server.launch
```
2. Start it all up with:
$ docker-compose up -d
3. MoveIt is now running headless on our container! Check more examples for accessing RVIZ and other options.
#### More examples
Check the [examples](examples) folder for several examples of `docker-compose` files.
## Notes
These images are maintained by Gramazio Kohler Research
[@gramaziokohler](https://github.com/gramaziokohler>)
They are used by the [COMPAS FAB](https://gramaziokohler.github.io/compas_fab) framework
to provide a [containerized ROS backend for planning and execution](https://gramaziokohler.github.io/compas_fab/latest/backends/ros.html#ros-on-docker-1).
## Credits
These docker images are only possible thanks to the huge contribution of the ROS and ROS-I community. Besides ROS itself, the following open source projects are built and included in them:
- [MoveIt: ROS Motion Planning Framework](https://github.com/ros-planning/moveit)
- [ROS Bridge Suite](https://github.com/RobotWebTools/rosbridge_suite/)
- [ROS Sharp file server](https://github.com/siemens/ros-sharp/tree/master/ROS/file_server)
- [ROS-I ABB & ABB Experimental](https://github.com/ros-industrial/abb)
- [ROS-I UR](https://github.com/ros-industrial/universal_robot)
- [ROS-I UR Modern Driver](https://github.com/ros-industrial/ur_modern_driver)
- [ROS Panda planning](https://github.com/ros-planning/panda_moveit_config)
- [ROS IIWA Stack](https://github.com/IFL-CAMP/iiwa_stack)
- [NoVNC client](https://github.com/novnc/noVNC)