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

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

   version: '2'
   services:
     moveit-demo:
       image: gramaziokohler/ros-noetic-moveit
       container_name: moveit-demo
       environment:
         - ROS_HOSTNAME=moveit-demo
         - ROS_MASTER_URI=http://ros-core:11311
       depends_on:
         - ros-core
       command:
         - roslaunch
         - --wait
         - panda_moveit_config
         - 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"
         - "ROS_MASTER_URI=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
         - ROS_MASTER_URI=http://ros-core:11311
       depends_on:
         - ros-core
       command:
         - roslaunch
         - --wait
         - file_server
         - file_server.launch
   

2. Start it all up with:

   $ docker-compose up -d
   

3. 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:

• 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