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
Navigation
	husarion/navigation2		Nav2 navigation stack for ROS 2
				humble	amd64 arm64
				galactic	amd64 arm64
				foxy	amd64 arm64
SLAM
	husarion/slam-toolbox		Slam Toolbox packed in a Docker image for map building in ROS 2
				humble	amd64 arm64
				galactic	amd64 arm64
				foxy	amd64 arm64

Minimal setup

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

Navigation

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

link	description
rosbot-xl-autonomy	Autonomous mapping & navigation demo for ROSbot XL. Using navigation2 and slam_toolbox