Docker Images For Husarion's Robots

Newest OS 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 ROSbot-PRO	amd64, arm/v7, arm64	PySerial adapter to access ROS nodes on ROSbot's STM32 MCU
husarion/rplidar	rplidar-docker	Melodic	ROSbot ROSbot-PRO 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 ROSbot-PRO 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-PRO Panther	amd64, arm64	A Node.js app providing a simple remote interface for robots
husarion/logitech-f710	logitech_f710_ros	Noetic	ROSbot-PRO Panther	amd64, arm64	Controlling ROS robots with Logitech F710 gamepad

ROS 2 Docker Images

Docker Hub repo	GitHub repo	ROS version	Target Platform	Arch	Description
husarion/ros2-desktop-vnc	ros2-desktop-vnc	Foxy	ROSbot-PRO Panther	amd64, arm64	A ROS 2 desktop with a LXDE graphical environment + noVNC.
husarion/nav2	nav2-docker	Galactic	ROSbot-PRO Panther	amd64, arm64	Dockerized Nav2 nodes with custom Husarion launch.
husarion/rviz2	rviz2-docker	Galactic	ROSbot-PRO Panther	amd64, arm64	Dockerized Rviz2 with Nav 2 plugins.
husarion/micro-ros-agent	docker-micro-ros	Galactic	ROSbot-PRO Panther	amd64, arm64	Micro-ROS agent - example. Created this fork becasue the official one is not shipped with arm64 support (as on Feb. 2022)

Useful 3rd Party Images

Docker Hub repo	GitHub repo	ROS version	Arch	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

Panther in Gazebo + rviz + nav2 (for Nvidia GPU)

Launch Panther simulation in Gazebo on your laptop that looks like this:

info

Prerequisites:

Make sure you have the following software installed on your laptop that will run the simulation:

• docker
• docker-compse
• nvidia runtime

Source code

Full source code is here

docker-compose.yml

version: "3.4"

services:
  # ROS Galactic simulation
  panther_gazebo:
    image: husarion/panther-gazebo:galactic-latest
    tty: true
    runtime: nvidia
    environment:
      - "DISPLAY"
      - "QT_X11_NO_MITSHM=1"
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=compute,utility,display
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
    command: >
      ros2 launch panther_gazebo panther.launch.py 
      use_gpu:=true

  # ROS Galactic Navigation 2
  nav2:
    image: husarion/nav2:galactic-latest
    tty: true
    restart: on-failure
    depends_on:
      - panther_gazebo
    volumes:
      - ./config/nav2_params.yaml:/app/ros2_ws/src/husarion_nav2/config/nav2_params.yaml
      - ./config/slam_toolbox.yaml:/app/ros2_ws/src/husarion_nav2/config/slam_toolbox.yaml
    command: 
      - sh
      - -c
      - |
        sleep 5
        ros2 launch husarion_nav2 bringup_both.launch.py

note

you will find nav2_params.yaml and slam_toolbox.yaml files for this example here.

Launching

On your laptop go to the folder containing the docker-compose.yml file and execute:

xhost local:docker
docker-compose up

Extra notes

This docker-compose.yml will run Panther in simulation with Nvidia support. For more examples with and withoud Nvidia GPU support and custom Nav2 parameters reffer to examples here.