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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:

NameImageDescriptionTagsArchitectures
Navigation
husarion/navigation2Status Badge
Nav2 navigation stack for ROS 2
humble
amd64arm64
galactic
amd64arm64
foxy
amd64arm64
SLAM
husarion/slam-toolboxStatus Badge
Slam Toolbox packed in a Docker image for map building in ROS 2
humble
amd64arm64
galactic
amd64arm64
foxy
amd64arm64

Minimal setup

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

Create a my-nav2-params.yaml configuration file and add the following lines to compose.yaml file:

nav2:
image: husarion/navigation2:humble
volumes:
- ./my-nav2-params.yaml:/params.yaml
command: ros2 launch nav2_bringup navigation_launch.py

SLAM

Create a my-slam-params.yaml configuration file and add the following lines to compose.yaml file:

slam-toolbox:
image: husarion/slam-toolbox:humble
volumes:
- ./my-slam-params.yaml:/params.yaml
command: ros2 launch slam_toolbox online_sync_launch.py

Demo projects

linkdescription
rosbot-xl-autonomyAutonomous mapping & navigation demo for ROSbot XL. Using navigation2 and slam_toolbox