https://github.com/racinmat/gazebo-docker
Dockerfile for gazebo and ROS environment
https://github.com/racinmat/gazebo-docker
Last synced: 2 months ago
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Dockerfile for gazebo and ROS environment
- Host: GitHub
- URL: https://github.com/racinmat/gazebo-docker
- Owner: racinmat
- Created: 2017-02-23T11:25:36.000Z (over 8 years ago)
- Default Branch: master
- Last Pushed: 2017-03-05T21:31:53.000Z (over 8 years ago)
- Last Synced: 2025-03-22T14:41:27.058Z (3 months ago)
- Language: Shell
- Size: 9.77 KB
- Stars: 4
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: readme.md
Awesome Lists containing this project
README
running the containers
======================
### run once
- without simulations: `docker run azathoth/gazebo:only-repository`
- with simulations: `docker run azathoth/gazebo:with-simulations`
### run as guest OS
`docker run -it azathoth/gazebo:only-repository`
### run as guest OS with shared desktop via vnc:
`docker run -p 5900 gazebo:with-vnc-gui x11vnc -forever -usepw -create`
### connect to running container
`docker attach [id]`
### connect to running container and create new shell
`docker exec -it [id] bash`
### how to run simulation via VNC viewer:
- start ros container by `docker run -p 5900 gazebo:with-vnc-gui x11vnc -forever -usepw -create`
- in another cmd window, by `docker ps` get its id and port
- run `docker exec -it [id] bash` in that new window
- start VNC viewer, initialize the new connection with the localhost:[port] and the password 1234
- start simulation in the VNC viewer
- spawn in that new cmd window
### how to run simulation via X server:
- start ros container by `docker run -it -e="DISPLAY" -v="/tmp/.X11-unix:/tmp/.X11-unix:rw" gazebo:with-vnc-gui`
- in this container, run `roslaunch simulation simulation.launch`
- in another cmd window, by `docker ps` get its id and port
- run `docker exec -it [id] bash` in that new window
- start xlaunch in VcXsrv
DISABLE Native opengl
ENABLE Disable access control
- start simulation in the VNC viewer
- spawn in that new cmd window `spawn 1 2 --enable-bluefox-camera --enable-mobius-camera --enable-rangefinder --run --delete`
developing the images
=====================
### before building
in this repository, you need to have 2 text files:
- id_rsa
to this file, put a private ssh key to clone private github repository
- rsync_pass
to this file, put a password to downlod mbzirc repo
so before building, the building directory should have this structure
- only-repository (directory)
- with-simulations (directory)
- readme.md
- id_rsa
- psync_pass
- updateRepository-noninteractive.sh
- ...
#### build
- only repository: `docker build -f ./only-repository/Dockerfile -t gazebo:only-repository .`
- repository with simulations: `docker build -f ./with-simulations/Dockerfile -t gazebo:with-simulations .`
#### tag to azathoth user
- `docker tag gazebo:only-repository azathoth/gazebo:only-repository`
- `docker tag gazebo:with-simulations azathoth/gazebo:with-simulations`
#### push
- only repository: `docker push azathoth/gazebo:only-repository`
- repository with simulations: `docker push azathoth/gazebo:with-simulations`