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https://github.com/micro-ROS/docker
Docker-related material to setup, configure and develop with micro-ROS hardware.
https://github.com/micro-ROS/docker
dds-xrce docker docker-automated embedded example-code linux micro-ros olimex ros2 stm32 toolchain
Last synced: about 2 months ago
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Docker-related material to setup, configure and develop with micro-ROS hardware.
- Host: GitHub
- URL: https://github.com/micro-ROS/docker
- Owner: micro-ROS
- License: apache-2.0
- Created: 2018-02-21T09:39:54.000Z (over 6 years ago)
- Default Branch: jazzy
- Last Pushed: 2024-06-03T07:13:05.000Z (4 months ago)
- Last Synced: 2024-06-04T08:08:15.367Z (4 months ago)
- Topics: dds-xrce, docker, docker-automated, embedded, example-code, linux, micro-ros, olimex, ros2, stm32, toolchain
- Language: Dockerfile
- Homepage: https://micro-ros.github.io
- Size: 302 KB
- Stars: 47
- Watchers: 6
- Forks: 28
- Open Issues: 7
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.rst
- Contributing: CONTRIBUTING.md
- License: LICENSE
Awesome Lists containing this project
README
# micro-ROS Dockers
This repository contains Docker-related material aimed at setting up, configuring and developing a [micro-ROS](https://microros.github.io/)-based application.
This set of Dockerfiles provides ready-to-use environments to easily execute micro-ROS examples in your host machine, as well as to use the standalone [micro-ROS build system](https://github.com/micro-ROS/micro_ros_setup).
In addition, two images are provided that allow using micro-ROS as an external library, both in [ESP-IDF](https://github.com/micro-ROS/micro_ros_espidf_component/tree/main/docker).
The Docker images can be found at [dockerhub](https://hub.docker.com/u/microros).
The available images are listed below:
| Image | Description | Status |
| -------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
| base | Base image with a ROS 2 Jazzy installation + micro-ROS specific build system tools. Used as base of any other micro-ROS image | [](https://hub.docker.com/r/microros/base/)[](https://hub.docker.com/r/microros/base/)[](https://microbadger.com/images/microros/base) |
| micro-ros-agent | Image containing a pre-compiled micro-ROS-Agent, ready to use as a standalone application | [](https://hub.docker.com/r/microros/micro-ros-agent/)[](https://hub.docker.com/r/microros/micro-ros-agent/)[](https://microbadger.com/images/microros/micro-ros-agent) |
| micro-ros-demos | Contains pre-compiled micro-ROS demo applications, ready to use to get a taste of micro-ROS capabilities | [](https://hub.docker.com/r/microros/micro-ros-demos/)[](https://hub.docker.com/r/microros/micro-ros-demos/)[](https://microbadger.com/images/microros/micro-ros-demos) |
| micro_ros_static_library_builder | Allows to use a pre-compiled micro-ROS library to develop applications in external environments | [](https://hub.docker.com/r/microros/micro_ros_static_library_builder/)[](https://hub.docker.com/r/microros/micro_ros_static_library_builder/)[](https://microbadger.com/images/microros/micro_ros_static_library_builder) |
| micro-ros-olimex-nuttx | Contains a ready to flash example for Olimex STM32 E407 | [](https://hub.docker.com/r/microros/micro-ros-olimex-nuttx/)[](https://hub.docker.com/r/microros/micro-ros-olimex-nuttx/)[](https://microbadger.com/images/microros/micro-ros-olimex-nuttx) |
| esp-idf-microros | Allows to use micro-ROS as a component of the ESP-IDF build system | [](https://hub.docker.com/r/microros/esp-idf-microros/)[](https://hub.docker.com/r/microros/esp-idf-microros/)[](https://microbadger.com/images/microros/esp-idf-microros) |
## Pre-requisites
You need to have **Docker** in your system.
For installing Docker, refer to the official documentation at https://www.docker.com/.
## Usage
To get an image, use the `docker pull` command:
* e.g. `docker pull microros/base`
You can select the preferred tag by appending `:tag` to the image name
* e.g. `docker pull microros/base:jazzy`
Once you have the image locally, type `docker run` to start it. It is not mandatory, although usually useful, to launch your containers using the `--rm` and `--net=host` flags:
* e.g. `docker run -it --rm --net=host microros/micro-ros-agent:jazzy`
`--rm` makes sure that the docker image will be removed after exiting.
`--net=host` provides the container with the same network access as the host.
`-it` allocates a pseudo-TTY for you and keeps stdin listening.
Another used command is `-v` to map local files with docker container ones.
`-v` is useful in case you may want to flash boards from within a Docker container.
#### base image
It is the base for the rest of the containers.
It contains the necessary micro-ROS setup tools and dependencies.
From this image, you can start any development targeting micro-ROS.
#### micro-ros-agent
This image is meant to be used as a stand-alone application.
It includes the installation of the ROS 2 version selected by the tag selected, together with a micro-ROS Agent.
The entry point of this image is directly the micro-ROS Agent, so upon execution of `docker run` you will be facing the micro-ROS Agent command line input. Running:
* e.g. `docker run -it --net=host microros/micro-ros-agent:jazzy udp4 -p 9999`
will start a micro-ROS Agent listening to UDP messages on port 9999.
#### micro-ros-demos
`micro-ros-demos` is one of the example images.
With this image, you can launch example applications using micro-ROS (compiled for Linux machines).
This image entry point has a ROS 2 environment set up with micro-ROS examples.
You can run regular ROS 2 tools to launch the examples.
* eg: `docker run -it --net=host microros/micro-ros-demos bash`
The currently available examples are listed [here](https://github.com/micro-ROS/micro-ROS-demos/rclc).
#### micro-ros-olimex-nuttx (unmaintained)
This image provides you with a ready-to-flash firmware for Olimex-STM32-E407 boards with demos included.
To be able to flash, you need to map your devices to the Docker container as follows:
* e.g. `docker run -it --privileged -v /dev/bus/usb:/dev/bus/usb microros/micro-ros-olimex-nuttx:jazzy`
Once inside the container, you can flash the board by running `scripts/flash.sh` from the `firmware/NuttX` directory.
There you can find a publisher and a subscriber examples.
Both examples use serial transport to communicate with a micro-ROS Agent, so you should start an Agent with the same transport (You can use the `micro-ros-agent` image to do so).
Once a Client-Agent communication is established you can use ROS 2 tools to view the publications from the Olimex or to publish messages to it.
#### micro_ros_static_library_builder
The `micro_ros_static_library_builder` docker image provides you with a set of include files and pre-compiled micro-ROS libraries to develop your micro-ROS application within the Arduino IDE environment.
To be able to use it, use the following command to instantiate a container of this image:
* e.g. `docker run -it -v $(pwd):/arduino_project --net=host microros/micro_ros_static_library_builder:jazzy`.
Note that folders added to `extras/library_generation/extra_packages` and entries added to `extras/library_generation/extra_packages/extra_packages.repos` will be taken into account by this build system.
#### esp-idf-microros
This Docker image allows you to use micro-ROS as a component of the ESP-IDF build system.
To use it:
* e.g. `docker run -it --user espidf --volume="/etc/timezone:/etc/timezone:ro" -v $(pwd):/micro_ros_espidf_component -v /dev:/dev --privileged --workdir /micro_ros_espidf_component microros/esp-idf-microros:latest /bin/bash"`
Then, you can navigate to your example aplications and build it using the ESP IDF buildtool system script, `idf.py menuconfig/build/flash/monitor`.
## Automated builds
These Dockerfiles are used for automatically creating images on Docker Hub.
These builds are tagged with the ROS 2 version they will be compatible with: e.g. foxy, rolling...
The latest tag will always correspond to the latest release of ROS 2.
These automatic builds have a direct relationship with the content of the micro-ROS repositories:
| Image | Triggers |
| -------------------------------- | -------------------------------------------------------------------------------------------------- |
| base | https://github.com/micro-ROS/micro-ROS-build |
| micro-ros-agent | https://github.com/micro-ROS/micro-ROS-Agent
https://github.com/eProsima/Micro-XRCE-DDS-Agent |
| micro-ros-demos | https://github.com/micro-ROS/micro-ROS-demos |
| micro_ros_static_library_builder | https://github.com/micro-ROS/micro_ros_arduino |
| esp-idf-microros | https://github.com/micro-ROS/micro_ros_espidf_component |
Apart from GitHub repositories changes, a build can be triggered whenever the base image is updated on Docker Hub.
Base images are specified with the `FROM:` directive in the Dockerfile.
## Purpose of the Project
This software is not ready for production use. It has neither been developed nor
tested for a specific use case. However, the license conditions of the
applicable Open Source licenses allow you to adapt the software to your needs.
Before using it in a safety relevant setting, make sure that the software
fulfills your requirements and adjust it according to any applicable safety
standards, e.g., ISO 26262.
## License
This repository is open-sourced under the Apache-2.0 license. See the
[LICENSE](LICENSE) file for details.
For a list of other open-source components included in this repository,
see the file [3rd-party-licenses.txt](3rd-party-licenses.txt).
## Known Issues/Limitations
There are no known limitations.
If you find issues, [please report them](https://github.com/micro-ROS/micro_ros_setup/issues).