Docker Images For Husarion's Robots

Newest OS images for Panther and 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 the host system other than Docker. That means you don't even need to use pre-installed ROS on robot's host systems. 100% of software can run in Docker containers.

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

Here's the list of Docker images hosted on Husarion's Docker Hub profile:

Image		Description	Tags	Architectures
husarion/rosbot		Docker images for ROSbot 2, ROSbot 2R and ROSbot 2 PRO robots.
			humble	amd64  arm64
			melodic	amd64  arm  arm64
			melodic-simulation	amd64
			noetic	amd64  arm64
			noetic-simulation	amd64
husarion/rplidar		Docker images for SLAMTEC lidars. RPLIDAR A2 is used in ROSbot 2 and 2R. A3 is used in ROSbot 2 PRO.
			foxy	amd64  arm64
			galactic	amd64  arm64
			humble	amd64  arm64
			kinetic	amd64  arm  arm64
			melodic	amd64  arm  arm64
			noetic	amd64  arm64
husarion/astra		Docker images for Orbecc depth sensors. Orbecc Astra is used in ROSbot 2, 2R and 2 PRO
			foxy	amd64  arm64
			galactic	amd64  arm64
			humble	amd64  arm64
			kinetic	amd64  arm  arm64
			melodic	amd64  arm  arm64
			noetic	amd64  arm64
husarion/ros		ROS docker images with modifications.
			eloquent-ros1-bridge	amd64  arm  arm64
			foxy-ros1-bridge	amd64  arm64
			galactic-ros1-bridge	amd64  arm64
husarion/navigation2		Nav2 navigation stack for ROS 2
			foxy	amd64  arm64
			foxy-22-09-19	amd64  arm64
			galactic	amd64  arm64
			galactic-22-09-19	amd64  arm64
			humble	amd64  arm64
			humble-22-09-19	amd64  arm64
husarion/slam-toolbox		Slam Toolbox packed in a Docker image for map building in ROS 2
			foxy	amd64  arm64
			foxy-22-09-19	amd64  arm64
			galactic	amd64  arm64
			galactic-22-09-19	amd64  arm64
			humble	amd64  arm64
			humble-22-09-19	amd64  arm64
husarion/rviz2		Prebuild Docker image with RViz2 and Nav2 plugin
			foxy	amd64  arm64
			foxy-22-09-19	amd64  arm64
			foxy-22-10-06	amd64  arm64
			foxy-22-10-12	amd64  arm64
			galactic	amd64  arm64
			galactic-22-09-19	amd64  arm64
			galactic-22-10-06	amd64  arm64
			galactic-22-10-12	amd64  arm64
			humble	amd64  arm64
			humble-22-09-19	amd64  arm64
			humble-22-10-06	amd64  arm64
			humble-22-10-12	amd64  arm64
husarion/rviz		RViz for visualizing state of ROS 1 system in a nice GUI
			melodic	amd64  arm  arm64
			noetic	amd64  arm64
husarion/plotjuggler		PlotJuggler ROS 2 tool for visualizing time series
			humble	amd64  arm64
husarion/webui-ros-joystick		https://github.com/husarion/webui-ros-joystick
			noetic	amd64  arm64
husarion/joy2twist		Controlling a mobile robot using a gamepad
			galactic	amd64  arm64
			humble	amd64  arm64
			melodic	amd64  arm  arm64
			noetic	amd64  arm64
husarion/ros2-desktop-vnc		A ROS 2 Foxy desktop container with a LXDE graphical environment available over noVNC.
			amd64	amd64
			arm64	arm64
			latest	amd64  arm64
husarion/panther-gazebo		Image for simulation of Panther in Gazebo
			galactic-latest	amd64  arm64
			noetic-latest	amd64  arm64

Another useful Docker images

Here's a list of 3rd party and non-ROS tools that are useful in ROS development:

Image		Description	Tags	Architectures
husarnet/husarnet		Peer-to-Peer VPN to connect your computers, microcontrollers and containers with zero configuration.
			2.0.0	amd64  arm  arm64
			amd64	amd64
			arm64	arm64
			armhf	arm
			latest	amd64  arm  arm64
husarion/omping		Dockerized omping - useful for debugging multicasting in ROS 2 docker setup
			latest	amd64  arm64
husarion/plotjuggler		PlotJuggler ROS 2 tool for visualizing time series
			humble	amd64  arm64
microros/micro-ros-agent		micro-ROS Agent application ready to use
			foxy	amd64  arm64
			galactic	amd64  arm64
			humble	amd64  arm64
			latest	amd64
			rolling	amd64  arm64
donowak/remote-desktop		Docker image providing remote desktop access to the host OS
			lan	amd64  arm64
			vpn	amd64  arm64
donowak/vulcanexus		Vulcanexus ROS 2 tool set
			latest	amd64

Examples

ROSbot 2 (Gazebo) + rviz2 + Slam toolbox + nav2

Control a simulation model of ROSbot 2 running in the Gazebo simulation environment from Rviz2 ROS 2 visualization tool. ROSbot is building a map and navigating autonomously thanks to Slam Toolbox and Navigation 2

compose.yaml

services:

  rviz:
    image: husarion/rviz2:galactic
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
    environment:
      - DISPLAY=${DISPLAY:?err}
      - LIBGL_ALWAYS_SOFTWARE=1
    command: ros2 run rviz2 rviz2 -d /settings/rosbot2-nav2-demo.rviz

  navigation:
    image: husarion/navigation2:galactic
    command: >
      ros2 launch nav2_bringup navigation_launch.py
        params_file:=/nav2_params/rosbot2_navigation.yaml
        use_sim_time:=True

  mapping:
    image: husarion/slam-toolbox:galactic
    command: >
      ros2 launch slam_toolbox online_sync_launch.py
        slam_params_file:=/slam_params/rosbot2.yaml
        use_sim_time:=True

  bridge:
    image: husarion/ros:galactic-ros1-bridge
    environment:
      - ROS_MASTER_URI=http://ros-master:11311
    command: ros2 run ros1_bridge dynamic_bridge

  ros-master:
    image: ros:noetic-ros-core
    command: stdbuf -o L roscore

  rosbot_simulation:
    image: husarion/rosbot:noetic-simulation
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
    environment:
      - DISPLAY=${DISPLAY:?err}
      - LIBGL_ALWAYS_SOFTWARE=1
      - ROS_MASTER_URI=http://ros-master:11311
    command: >
      roslaunch --wait rosbot_bringup rosbot.launch 
        world:=/ros_ws/src/rosbot_gazebo/worlds/maze.world

To launch the example create a compose.yaml file on your computer and run:

xhost +
docker compose up

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