Docker images for ROS master, bridge and nodes
ROS Docker files
ROS Noetic images: a containerized version of various ROS nodes.
This repository provides Dockerfile files to run ROS inside Docker containers:
Base ROS Noetic image
$ docker pull gramaziokohler/ros-noetic-base
Contains ROS and tools to use it over websockets with rosbridge-suite.
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
$ docker pull gramaziokohler/novnc
Display X11 applications (e.g. RViz) from other containers directly in the browser.
How to use
First, make sure Docker 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
- Copy & Paste the following content into a
docker-compose.ymlfile in your computer:
version: '2'
services:
moveit-demo:
image: gramaziokohler/ros-noetic-moveit
container_name: moveit-demo
environment:
- ROS_HOSTNAME=moveit-demo
- ROSMASTERURI=http://ros-core:11311
depends_on:
- ros-core
command:
- roslaunch
- --wait
- pandamoveitconfig
- 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" - "ROSMASTERURI=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 - ROSMASTERURI=http://ros-core:11311 depends_on: - ros-core command: - roslaunch - --wait - file_server - file_server.launch
- Start it all up with:
- MoveIt is now running headless on our container! Check more examples for accessing RVIZ and other options.
More examples
Check the examples folder for several examples of docker-compose files.
Notes
These images are maintained by Gramazio Kohler Research @gramaziokohler
They are used by the COMPAS FAB framework to provide a containerized ROS backend for planning and execution.
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:
