Docker Images for Husarion robots

Welcome. In this section you will find useful information about Docker images for our company's robots. Below is a table presenting in a compact form Docker images enabling quick launch of a given robot. 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.

Hardware

Here's the list of Docker images hosted on Husarion's Docker Hub to be run on the real robots:

Name	Image		Description	Tags	Architectures
Panther
	husarion/panther		Docker image with a Panther ROS package
				humble	arm64
				noetic	arm64
ROSbot XL
	husarion/rosbot-xl		ROSbot XL image to run on the real hardware and in simulation (under separate tags)
				humble	amd64 arm64
				galactic	amd64 arm64
ROSbot 2R/PRO
	husarion/rosbot		Docker images for ROSbot 2, ROSbot 2R and ROSbot 2 PRO robots.
				noetic	amd64 arm64
				humble	amd64 arm64

Simulation

Here's the list of Docker images hosted on Husarion's Docker Hub with robot simulations to be run on your computer:

Name	Image		Description	Tags	Architectures
Gazebo: Panther
	husarion/panther-gazebo		Image for simulation of Panther in Gazebo
				humble	amd64
				noetic	amd64
Gazebo: ROSbot XL
	husarion/rosbot-xl-gazebo		Gazebo simulation of ROSbot XL
				humble	amd64
Gazebo: ROSbot 2R / 2 PRO
	husarion/rosbot-gazebo		Gazebo simulation of ROSbot 2R / 2 PRO
				humble	amd64
Webots: ROSbot 2R / XL
	husarion/webots		Dockerized Webots simulations for Husarion robots
				humble	amd64
				galactic	amd64
O3DE: ROSbot XL
	husarion/o3de		O3DE simulation with Husarion robots
				1.2.0	amd64
				1.1.1	amd64
				See more ▶

Minimal setup

In this section you can find minimal setup for running the container on a specific robot.

Panther

Physical Robot

warning

This Docker image is intended to be run on the Built-in Computer. DO NOT run it on the User Computer (the one located in the User Shelf).

Also note that in the production setup in Panther, the ROS node is already launched!

compose.yaml

# Launching:
# docker compose up

x-common-config:
  &common-config
  network_mode: host
  restart: always
  ipc: host
  tty: true
  environment:
    - ROS_IP=10.15.20.2
    - ROS_MASTER_URI=http://10.15.20.2:11311

services:

  ros_master:
    image: ros:noetic-ros-core
    <<: *common-config
    command: roscore

  panther_ros:
    image: husarion/panther:noetic-1.0.0-20230324-stable
    <<: *common-config
    privileged: true
    env_file: /tmp/panther_config.conf
    volumes:
      - ~/.ssh/id_rsa:/root/.ssh/id_rsa
      - /tmp/panther_config.yaml:/tmp/panther_config.yaml
    command: >
      roslaunch --wait
      panther_bringup bringup.launch

Simulation

compose.yaml

# Launching:
# xhost +local:docker
# docker compose up

services:

  panther:
    image: husarion/panther-gazebo:noetic-1.0.43-20230823
    runtime: nvidia
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
      - /dev/null:/run/husarion/panther_config.env
    environment:
      - DISPLAY=${DISPLAY:?err}
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
    command: roslaunch panther_gazebo panther_simulation.launch

ROSbot XL

Physical Robot

compose.yaml

# Launching:
# docker compose up

services:

  rosbot-xl:
    image: husarion/rosbot-xl:humble-0.8.2-20230712
    command: ros2 launch rosbot_xl_bringup bringup.launch.py mecanum:=${MECANUM:-True}

  micro-ros:
    image: husarion/micro-xrce-agent:v2.4.1
    ports:
      - 8888:8888/udp
    command: MicroXRCEAgent udp4 --port 8888

info

Before running this compose.yaml, make sure you have the proper version of the firmware installed on the microcontroller. To do so:

docker run --rm -it --privileged \
--mount type=bind,source=/dev/ttyUSBDB,target=/dev/ttyUSBDB \
husarion/rosbot-xl:humble-0.8.2-20230712 \
flash-firmware.py -p /dev/ttyUSBDB

Simulation

compose.yaml

# Launching:
# xhost +local:docker
# docker compose up

services:

  rosbot-xl:
    image: husarion/rosbot-xl-gazebo:humble
    container_name: rosbot-xl-gazebo
    runtime: nvidia
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
    environment:
      - DISPLAY=${DISPLAY:?err}
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
    command: ros2 launch rosbot_xl_gazebo simulation.launch.py mecanum:=True camera_model:=intel_realsense_d435

To run the simulation run the following command in the same path as the localization of the compose.yaml:

docker compose up

You will see:

Now in the new terminal window you can launch teleop_twist_keyboard node to manually control the robot in the simulation:

user@laptop:~/$ docker exec -it rosbot-xl-gazebo bash
root@ee15a3e1151c:/ros2_ws# ros2 run teleop_twist_keyboard teleop_twist_keyboard l

This node takes keypresses from the keyboard and publishes them
as Twist messages. It works best with a US keyboard layout.
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

For Holonomic mode (strafing), hold down the shift key:
---------------------------
   U    I    O
   J    K    L
   M    <    >

t : up (+z)
b : down (-z)

anything else : stop

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%

CTRL-C to quit

currently:      speed 0.5       turn 1.0

ROSbot 2R/ 2 PRO

Physical Robot

compose.yaml

# Launching:
# docker compose up

services:

  rosbot:
    image: husarion/rosbot:humble-0.6.1-20230712
    command: ros2 launch rosbot_bringup bringup.launch.py mecanum:=${MECANUM:-False}

  micro-ros:
    image: husarion/micro-xrce-agent:v2.4.1
    devices:
      - ${SERIAL_PORT:?err}
    environment:
      - SERIAL_PORT
    command: MicroXRCEAgent serial -D $SERIAL_PORT serial -b 576000

info

Before running this compose.yaml, make sure you have the proper version of the firmware installed on the microcontroller. To do so:

docker run --rm -it --privileged \
husarion/rosbot:humble-0.6.1-20230712 \
/flash-firmware.py /root/firmware.bin

Simulation

compose.yaml

# Launching:
# xhost +local:docker
# docker compose up

services:

  rosbot:
    image: husarion/rosbot-gazebo:humble
    container_name: rosbot-gazebo
    runtime: nvidia
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
    environment:
      - DISPLAY=${DISPLAY:?err}
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
    command: ros2 launch rosbot_gazebo simulation.launch.py mecanum:=${MECANUM:-False}

To run the simulation run the following command in the same path as the localization of the compose.yaml:

docker compose up

Now in the new terminal window you can launch teleop_twist_keyboard node to manually control the robot in the simulation:

user@laptop:~/$ docker exec -it rosbot-gazebo bash
root@ee15a3e1151c:/ros2_ws# ros2 run teleop_twist_keyboard teleop_twist_keyboard l

This node takes keypresses from the keyboard and publishes them
as Twist messages. It works best with a US keyboard layout.
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

For Holonomic mode (strafing), hold down the shift key:
---------------------------
   U    I    O
   J    K    L
   M    <    >

t : up (+z)
b : down (-z)

anything else : stop

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%

CTRL-C to quit

currently:      speed 0.5       turn 1.0