Docker Images

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
husarion/plotjuggler	PlotJuggler ROS 2 tool for visualizing time series	humble	amd64 arm64
husarion/webui-ros-joystick	https://github.com/husarion/webui-ros-joystick
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	Docker image with a Panther ROS package
husarion/panther	Docker image with a Panther ROS package	noetic	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
husarion/omping		latest	amd64 arm64
husarion/plotjuggler	PlotJuggler ROS 2 tool for visualizing time series
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
donowak/vulcanexus	Vulcanexus ROS 2 tool set	latest	amd64

Using Docker images

The advised way of using Docker images is with Docker Compose. It allows starting multiple containers with different configurations described in compose file (see Examples for example compose files). For more information about using Docker and Docker Compose refer to the official Docker documentation.

Controlling Docker containers

Starting Docker containers:

# Within a folder with compose file
docker compose up
# To run in detached mode
docker compose up -d

Listing containers:

# List running containers
docker ps
# List all containers
docker ps -a

Stopping a running container:

docker stop <container>
# To stop all running containers
docker stop $(docker ps -q)

Remove a container:

docker container rm <container>
# remove all containers
docker container prune

Remove all unused Docker containers, networks, images:

docker system prune

Configuring Docker containers restart

The behavior of existing containers after they exit can be controlled using compose parameter called restart. Possible options are:

no - the container doesn’t restart under any circumstance,
always - the container always restarts,
on-failure - the container restarts if the exit code indicates an on-failure error,
unless-stopped - the container always restarts unless it was stopped arbitrarily, or by the Docker daemon.

note

For Husrion's robots in most cases unless-stopped configuration is used. This means Docker containers will be automatically restarted after the robot is turned off and on again.

Updating Docker containers

Docker images are frequently updated to improve performance, add new functionalities or fix existing bugs. To update an existing image follow the below steps:

Stop all running containers.

docker stop $(docker ps -q)

Remove all created containers.

docker container prune

Pull a new Docker image.

docker pull <image>
# eg.
docker pull husarion/panther:noetic

After the pull process finishes, the Docker image is ready to use.

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 (link to compose.*.yam)

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 

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

Summary​

Another useful Docker images​

Using Docker images​

Controlling Docker containers​

Configuring Docker containers restart​

Updating Docker containers​

Examples​

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

Panther + rviz + nav2​

Launching​

on Panther​

on Laptop​