Docker Images for SLAM & navigation

In this section you will find useful information about Docker images used to run autonomous functionalities for Husarion robots. Below is a table presenting in a compact form Docker images enabling quick launch of a given functionalities. Below the tables, you will also find a chapter Minimal Setup showing the minimum configuration of the container that is needed for proper startup (e.g. in the case of a camera, specify the device port).

If you are not sure how to launch images you can learn it form Examples section.

Available images

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

Name	Image		Description	Tags	Architectures
Husarion UGV Autonomy
	husarion/husarion-ugv-autonomy		Docker image for https://github.com/husarion/husarion_ugv_autonomy_ros ROS 2 Package
				jazzy	amd64 arm64
				humble	amd64 arm64
ROSbot 3 / XL Autonomy
	husarion/rosbot-autonomy		Docker image for https://github.com/husarion/rosbot_autonomy_ros ROS 2 package
				jazzy	amd64 arm64
				humble	amd64 arm64

Minimal setup

In this section you can find the minimum configuration to run specific functionality.

Husarion UGV Autonomy

compose.yaml

x-common-config:
  &common-config
  network_mode: host
  ipc: host
  env_file: .env

services:

  docking:
    # image: husarion/husarion-ugv-autonomy:jazzy-jazzy-devel
    build:
      context: ..
      dockerfile: docker/Dockerfile
    container_name: docking
    <<: *common-config
    volumes:
      - ./config:/config
      - ../husarion_ugv_docking:/ros2_ws/src/husarion_ugv_autonomy_ros/husarion_ugv_docking
    command: >
      ros2 launch husarion_ugv_docking docking.launch.py
        namespace:=${ROBOT_NAMESPACE:-panther}
        use_wibotic_info:=${USE_WIBOTIC_INFO:-True}
        camera_image_topic:=${CAMERA_IMAGE_TOPIC:-/panther/camera/color/image_raw}
        camera_info_topic:=${CAMERA_INFO_TOPIC:-/panther/camera/color/camera_info}
        apriltag_output_dir:=/config/apriltags
        apriltag_size:=0.08
        use_sim:=False

  navigation:
    # image: husarion/husarion-ugv-autonomy:jazzy-jazzy-devel
    build:
      context: ..
      dockerfile: docker/Dockerfile
    container_name: navigation
    <<: *common-config
    volumes:
      - ./config:/config
      - ../maps:/maps
      - ../husarion_ugv_navigation:/ros2_ws/src/husarion_ugv_autonomy_ros/husarion_ugv_navigation
    command: >
      ros2 launch husarion_ugv_navigation bringup_launch.py
        namespace:=${ROBOT_NAMESPACE:-panther}
        observation_topic:=${OBSERVATION_TOPIC:-err}
        observation_topic_type:=${OBSERVATION_TOPIC_TYPE:-err}
        slam:=${SLAM:-True}
        use_sim_time:=False
        robot_model:=${ROBOT_MODEL:-panther}

ROSbot 3 / XL Autonomy

compose.yaml

services:

  rosbot_navigation:
    build:
      context: ..
      dockerfile: docker/Dockerfile
    network_mode: host
    ipc: host
    env_file:
      - .env
    volumes:
      - ./dds-config-udp.xml:/udp_profile.xml:ro
      - ../rosbot_navigation:/ros2_ws/src/rosbot_autonomy_ros/rosbot_navigation
      - ../maps:/maps
    command: >
      ros2 launch rosbot_navigation bringup.launch.py
        controller:=${CONTROLLER:-mppi}
        map:=/maps/map.yaml
        map_save_path:=/maps/map
        robot_model:=${ROBOT_MODEL:?err}
        slam:=${SLAM:-True}
        use_sim_time:=False