Docker Images For Husarion's Robots
Newest images for Panther nad ROSbot come with pre-installed Docker and Docker Compose. Thanks to provided Docker images you can run software for Husarion's robots in different scenarios without additional requirements to host system other than Docker. That means you don't even need to use pre-installed ROS on robots host systems. 100% of software can run in Docker conatiners!
note
Remember that architectures of computers used in ROSbot (arm/v7) and ROSbot PRO (amd64) are different, so no all images working on ROSbot PRO will work on regular ROSbot
Summary#
List of Docker images hosted on Husarion's Docker Hub profile:
ROS 1 Docker Images#
| Docker Hub repo | GitHub repo | ROS version | Target Platform | Arch | Description |
|---|---|---|---|---|---|
| husarion/rosbot | rosbot-docker | Melodic | ROSbot | amd64, arm/v7, arm64 | PySerial adapter to access ROS nodes on ROSbot's STM32 MCU |
| husarion/rplidar | rplidar-docker | Melodic | ROSbot Panther | amd64, arm/v7, arm64 | An official repo for RPLIDAR A2/A3 by Slamtec, closed in a Docker image |
| husarion/astra | astra-docker | Melodic | ROSbot Panther | amd64, arm/v7, arm64 | An official repo for Astra RGBD camera by Orbbec, closed in a Docker image |
| husarion/panther-lights-controller | panther_lights | Noetic | Panther | arm64 | Controlling front & rear 46 x pixel LED strip |
| husarion/panther-lights-scheduler | panther_lights | Noetic | Panther | amd64, arm64 | Controlling front & rear 46 x pixel LED strip |
| husarion/panther-driver | panther_driver | Noetic | Panther | amd64, arm64 | Low level control of Panther motors via CAN interface. |
| husarion/velocity-manager | panther_driver | Noetic | Panther | amd64, arm64 | High level control of cmd_vel source selection |
| husarion/panther-gazebo | panther_simulation | Noetic | Panther | amd64, arm64 | Gazebo simulation model for Panther |
| husarion/webui-ros-joystick | webui-ros-joystick | Noetic | ROSbot Panther | amd64, arm64 | A Node.js app providing a simple remote interface for robots |
| husarion/logitech-f710 | logitech_f710_ros | Noetic | ROSbot Panther | amd64, arm64 | Controlling ROS robots with Logitech F710 gamepad |
ROS 2 Docker Images#
| Docker Hub repo | GitHub repo | ROS version | Target Platform | Architectures | Description |
|---|---|---|---|---|---|
| husarion/ros2-desktop-vnc | ros2-desktop-vnc | Foxy | ROSbot Panther | amd64, arm64 | A ROS 2 desktop with a LXDE graphical environment + noVNC. |
| husarion/nav2 | nav2-docker | Galactic | ROSbot Panther | amd64, arm64 | Dockerized Nav2 nodes with custom Husarion launch in order to simplify running navigation2 and slam_toolbox nodes. |
Useful 3rd Party Images#
| Docker Hub repo | GitHub repo | ROS version | Architectures | Description |
|---|---|---|---|---|
| husarnet/husarnet | husarnet/husarnet | all | amd64, arm/v7, arm64 | A P2P VPN network allowing you to connect to remote containers or hosts over the Internet |
| ros:foxy-ros1-bridge | osrf/docker_images | Foxy, Noetic | amd64, arm64 | ROS bridge allowing ROS 1 and ROS 2 nodes talk to each other |
Examples#
Panther + rviz + nav2#
Control Panther from a Rviz running in your web browser.
docker-compose.yml
version: "2.3"
services:
# ROS Master ros-master: image: ros:noetic-ros-core restart: on-failure tty: true # docker run -t command: stdbuf -o L roscore
# ROS Melodic rosbot hardware layer rosbot: image: husarion/rosbot tty: true restart: on-failure environment: - "ROS_MASTER_URI=http://ros-master:11311" - "SERIAL_PORT=/dev/ttyS4" # default: ttyS1 - rosbot2.0; ttyS4 - rosbot2.0 `pro privileged: false devices: - "/dev/ttyS4" # must match environment SERIAL_PORT command: roslaunch rosbot_description rosbot_docker.launch # ROS Melodic Rplidar rplidar: image: husarion/rplidar:latest restart: unless-stopped environment: - "ROS_MASTER_URI=http://ros-master:11311" devices: - /dev/ttyUSB0 tty: true command: roslaunch rplidar_ros rplidar_a3.launch # For Rosbot 2.0 PRO use roslaunch rplidar_ros rplidar_a3.launch
# ROS Noetic + ROS 2 Foxy bridge: image: ros:foxy-ros1-bridge restart: on-failure environment: - "ROS_MASTER_URI=http://ros-master:11311" - "ROS_DOMAIN_ID=0" command: ros2 run ros1_bridge dynamic_bridge
# ROS Foxy navigation nav2: image: husarion/nav2:foxy tty: true restart: on-failure environment: - "ROS_DOMAIN_ID=0" command: ros2 launch husarion_nav2 bringup_both.launch.py
# ROS Foxy Rviz2 VNC rviz2: image: husarion/ros2-desktop-vnc:latest restart: on-failure enviroment: - "ROS_DOMAIN_ID=0" volumes: - ./rosbot_pro.rviz:/root/.rviz2/default.rviz ports: - 6080:80 shm_size: '512m'Launching#
on Panther#
execute docker-compose up in the terminal
on Laptop#
- open the following URL in your web browser:
http://<Panther_Local_IP>:6080. - In the desktop environment provided by NoVNC, open terminal and execute:
ros2 run rviz2 rviz2