Docker Images for additional hardware
Welcome. In this section you will find useful information about Docker images used to run devices that can be attached to our company's robots. Below is a table presenting in a compact form Docker images enabling quick launch of a given device. 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 | |
|---|---|---|---|---|---|
| Astra | |||||
| husarion/astra |  Docker images for Orbecc depth sensors. Orbecc Astra is used in ROSbot 2, 2R and 2 PRO | ||||
humble | amd64 arm64 | ||||
foxy | amd64 arm64 | ||||
| Fixposition | |||||
| husarion/fixposition |  Docker image for the Fixposition ROS 2 Driver | ||||
humble | amd64 arm64 | ||||
| Orbbec Cameras | |||||
| husarion/orbbec-camera |  Docker image for https://github.com/orbbec/OrbbecSDK_ROS2 package | ||||
humble | amd64 arm64 | ||||
| RealSense | |||||
| husarion/realsense |  Docker images for Intel Realsense camera | ||||
humble | amd64 arm64 | ||||
| RPlidar | |||||
| husarion/rplidar |  Docker images for SLAMTEC lidars. RPLIDAR A2 is used in ROSbot 2 and 2R. A3 is used in ROSbot 2 PRO. | ||||
humble | amd64 arm64 | ||||
galactic | amd64 arm64 | ||||
| ZED | |||||
| husarion/zed-desktop |  Docker image for ZED depth cameras (the image for PC with NVIDIA GPU) | ||||
humble | amd64 | ||||
noetic | amd64 | ||||
| husarion/zed-desktop-cpu | Docker image for ZED depth cameras (the image that doesn't require GPU) | ||||
humble | amd64 arm64 | ||||
noetic | amd64 arm64 | ||||
| husarion/zed-jetson | Docker image for ZED depth cameras (the image for NVIDIA Jetson SBCs) | ||||
foxy | arm64 | ||||
noetic | arm64 | ||||
Minimal setup
In this section you can find minimal setup for running the container to run specific device.
Astra
astra:
image: husarion/astra:humble
devices:
- /dev/bus/usb/
command: ros2 launch astra_camera astra_mini.launch.py
RPLIDAR
rplidar:
image: husarion/rplidar:humble
devices:
- /dev/ttyUSB0
command: >
ros2 launch sllidar_ros2 sllidar_launch.py
serial_baudrate:=${RPLIDAR_BAUDRATE:-256000}
ZED
- ZED Desktop
- ZED Desktop CPU
- ZED Jetson
zed:
image: husarion/zed-desktop:humble
runtime: nvidia
volumes:
- /dev:/dev
privileged: true
command: ros2 launch zed_wrapper ${CAMERA_MODEL}.launch.py
Create an environment variable depending on your camera (e.g. export CAMERA_MODEL=zed2i) or replace the ${CAMERA_MODEL} value in the yaml file. You should also have installed NVIDIA Container Toolkit.
zed:
image: husarion/zed-desktop-cpu:humble
volumes:
- /dev:/dev
privileged: true
command: ros2 launch zed_cpu zed.launch
zed:
image: husarion/zed-jetson:foxy
runtime: nvidia
volumes:
- /dev:/dev
privileged: true
command: ros2 launch zed_wrapper ${CAMERA_MODEL}.launch.py
Create an environment variable depending on your camera (e.g. export CAMERA_MODEL=zed2i) or replace the ${CAMERA_MODEL} value in the yaml file. You should also have installed NVIDIA Container Toolkit.