https://github.com/mrvideo/ros-docker-with-vnc
A Docker Compose setup with ROS and noVNC that is easy to use.
https://github.com/mrvideo/ros-docker-with-vnc
docker docker-compose ros
Last synced: 3 months ago
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A Docker Compose setup with ROS and noVNC that is easy to use.
- Host: GitHub
- URL: https://github.com/mrvideo/ros-docker-with-vnc
- Owner: MrVideo
- Created: 2024-03-22T09:56:45.000Z (about 1 year ago)
- Default Branch: main
- Last Pushed: 2024-06-20T13:22:30.000Z (12 months ago)
- Last Synced: 2025-03-11T00:48:31.819Z (3 months ago)
- Topics: docker, docker-compose, ros
- Language: Dockerfile
- Homepage:
- Size: 12.7 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# A better ROS Docker setup
This is a Docker Compose setup for [ROS 1](https://www.ros.org/) which lets you visualise GUIs through [noVNC](https://github.com/theasp/docker-novnc) and interact with ROS via terminal.
The `ros` container makes use of a Docker volume to contain persistent data.
I also took the liberty to install a Neovim instance with my configs and `clangd` for LSP support when using ROS.
## Requirements
I highly recommend having a terminal emulator that allows for splits and tabs in order to use this setup.
My recommendations are:
- For macOS users, [iTerm 2](https://iterm2.com/)
- For Linux users, [kitty](https://sw.kovidgoyal.net/kitty/)
- For Windows users, I'm sorry, I have absolutely no idea
You can also use any terminal emulator of your choice and [tmux](https://github.com/tmux/tmux/wiki), although it might be a bit difficult to get used to.
## First run
In order to start everything up, just run the following command in your terminal
```
sudo docker compose up --build --detach
```
You should be able to see two containers, `ros` and `novnc`, running by executing the command:
```
sudo docker ps -a
```
## Later spins
If you've already built the image, just run the following command to start the containers:
```
sudo docker compose up -d
```
## Connect to noVNC instance
To see your GUI applications, just navigate to the following URL:
```
http://localhost:8080/vnc.html
```
Alternatively, you can click [here](http://localhost:8080/vnc.html).
## Connect a shell to the ROS container
To interact via a tty with the ROS container, you can simply run this command:
```
sudo docker exec -it ros /bin/bash
```
This will attach your current terminal window to a `bash` session in the ROS Docker container, so that you can send commands to your nodes.
## Stop the services
When you have finished your work, you can run:
```
sudo docker compose down
```
This command will stop the two previously started containers and delete them.