ROS Docker files

ROS-in-a-box: a containerized version of various ROS nodes.

This repository provides Dockerfile files to run ROS inside Docker containers:

Base ROS image

$ docker pull gramaziokohler/ros-base

Contains ROS and tools to use it over websockets with rosbridge-suite.

X11 NoVNC display container

$ docker pull gramaziokohler/novnc

Display X11 applications (e.g. RViz) from other containers directly in the browser.

ROS + MoveIt! ABB

$ docker pull gramaziokohler/ros-abb-planner

Contains MoveIt! configured with the ABB packages.

ROS + MoveIt! Universal Robots

$ docker pull gramaziokohler/ros-ur-planner

Contains MoveIt! configured with the Universal Robots packages.

ROS + MoveIt! Franka Emika Panda

$ docker pull gramaziokohler/ros-panda-planner

Contains MoveIt! configured with the flagship MoveIt! robot: Franka Emika's Panda.

ROS + MoveIt! Kuka IIWA

$ docker pull gramaziokohler/ros-kuka-iiwa-planner

Contains MoveIt! configured with the Kuka IIWA 7 & 14 robots.

ROS + MoveIt! for development

$ docker pull gramaziokohler/ros-moveit-dev

Contains MoveIt! with an empty catkin workspace to be mounted on the host for a fast development cycle.

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

Web UI example

1. Copy & Paste the following content into a docker-compose.yml file in your computer:

   version: '2'
   services:
     ros-master:
       image: gramaziokohler/ros-base
       container_name: ros-master
       ports:
         - "11311:11311"
       command:
         - roscore
   
     ros-bridge:
       image: gramaziokohler/ros-panda-planner
       container_name: ros-bridge
       environment:
         - "ROS_HOSTNAME=ros-bridge"
         - "ROS_MASTER_URI=http://ros-master:11311"
       ports:
         - "9090:9090"
       depends_on:
         - ros-master
       command:
         - roslaunch
         - --wait
         - rosbridge_server
         - rosbridge_websocket.launch
   
     panda-demo:
       image: gramaziokohler/ros-panda-planner
       container_name: panda-demo
       environment:
         - ROS_HOSTNAME=panda-demo
         - ROS_MASTER_URI=http://ros-master:11311
         - DISPLAY=gui:0.0
       depends_on:
         - ros-master
         - gui
       command:
         - roslaunch
         - --wait
         - panda_moveit_config
         - demo.launch
   
     gui:
       image: gramaziokohler/novnc:latest
       ports:
         - "8080:8080"
   

2. Start it all up with:

   $ docker-compose up -d
   

3. Open the following URL in your browser:

   http://localhost:8080/vnc.html?resize=scale&autoconnect=true
   

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:

• MoveIt: ROS Motion Planning Framework
• ROS Bridge Suite
• ROS Sharp file server
• ROS-I ABB & ABB Experimental
• ROS-I UR
• ROS-I UR Modern Driver
• ROS Panda planning
• ROS IIWA Stack
• NoVNC client