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Docker Images for auxiliary tools

Welcome. In this section you will find useful information about Docker images used to run tools useful for visualizing and debugging applications. Below is a table presenting in a compact form Docker images enabling quick launch of a given tool. 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
Husarnet
husarnet/husarnetStatus Badge
Peer-to-Peer VPN to connect your computers, microcontrollers and containers with zero configuration.
2.0.180
amd64 arm arm64
2.0.178
amd64 arm arm64
Foxglove
husarion/foxgloveStatus Badge
Foxglove Studio image customized for running on Husarion robots directly
1.84.0
amd64 arm64
1.83.0
amd64 arm64
Joy2Twist
husarion/joy2twistStatus Badge
Controlling a mobile robot using a gamepad
humble
amd64 arm64
noetic
amd64 arm64
Micro-ROS
husarion/micro-ros-agentStatus Badge
humble
amd64 arm64
PlotJuggler
husarion/plotjugglerStatus Badge
PlotJuggler ROS 2 tool for visualizing time series
humble
amd64 arm64
ROS Bridge
husarion/ros1-bridgeStatus Badge
galactic
amd64 arm64
foxy
amd64 arm64
RViz2
husarion/rviz2Status Badge
Prebuild Docker image with RViz2 and Nav2 plugin
humble
amd64 arm64
galactic
amd64 arm64
foxy
amd64 arm64
RViz
husarion/rvizStatus Badge
RViz for visualizing state of ROS 1 system in a nice GUI
noetic
amd64 arm64

Minimal setup​

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

Husarnet​

Husarnet is a low-latency, peer-to-peer VPN allowing you to connect your ROS 2 powered devices not only in LAN but also over the Internet.

All Husarion ROS 2 Docker Images are based on the husarnet/ros images. They are slightly modified official ROS docker images with an addition of the Husarnet-DDS that is launched in the ros_entrypoint.sh. Thanks to Husarnet-DDS the XML configuration file for Fast DDS or Cyclone DDS is created automatically and therefore you don't need to bind mount it to the container.

You can run Husarnet natively on your host operating system (recomended for physical robots) or inisde a separate Docker network namespace (very handy if you want to embed Husarnet into your SAAS application that requires a separate Husarnet host for each user)

Docker Network Namespace​

In this configuration hnet0 network interface is NOT AVAILABLE on the level of your host OS, but only inside the Docker container. To share hnet0 network interface with other containers, you need to run them with a custom network_mode:

network_mode: service:<name-of-your-husarnet-service>

Note that the Husarnet Docker image allows you to define the WAIT_HOSTNAMES environment variable containing the list of other Husarnet hosts that are required by your system. Thanks to that the Husarnet service is considered healthy only if all other hosts are available in the network. You can use that feature to postpone the start of the ROS 2 based Docker containers by the time all required hosts are available with this lines added to ROS Docker service:

depends_on:
  <name-of-your-husarnet-service>: { condition: service_healthy }

Additionally you need to choose the DDS implementation and define the environment variable with the path to its XML DDS configuration file(read more about those files in Fast DDS or Cyclone DDS ). This path MUST CONTAIN husarnet text inisde.

note

Why we need a custom DDS configuration?

DDS by default discovers other hosts in the network by using the multicasting. It doesn't work nor scale well while using VPN, and therefore we need to specify the list of all hosts in the ROS 2 network in the DDS configuration file.

Here is a basic talker/listener demo that you can run on two separate machines, in different networks:

compose.yaml
# Launching:
# find Husarnet Join Code from app.husarnet.com and execute:
#
# export JOINCODE=<paste-your-joincode-here>
# docker compose up

services:

  husarnet-talker:
    image: husarnet/husarnet:2.0.170
    volumes:
      - /var/lib/husarnet  # This will persist your Husarnet Client keys, thus IP of the container will be stable/the same between (re)boots
    sysctls:
      - net.ipv6.conf.all.disable_ipv6=0  # Husarnet is using IPv6 for the internal connections
    cap_add:
      - NET_ADMIN
    devices:
      - /dev/net/tun
    environment:
      - WAIT_HOSTNAMES=talker,listener
      - HOSTNAME=talker
      - JOINCODE

  talker:
    image: husarion/ros2-demo-nodes:humble
    network_mode: service:husarnet-talker
    depends_on:
      husarnet-talker: { condition: service_healthy }
    environment:
      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
      - FASTRTPS_DEFAULT_PROFILES_FILE=/husarnet-fastdds.xml
    command: ros2 run demo_nodes_cpp talker

Click here for more information about using the Husarnet Docker image.

Using Host Network Namespace​

To have a hnet0 network interface on your host OS, you can install Husarnet natively (available for Linux, Windows and MacOS) or run the Docker container this way:

compose.yaml
# Launching:
# find Husarnet Join Code from app.husarnet.com and execute:
#
# export JOINCODE=<paste-your-joincode-here>
# docker compose up

services:

  husarnet:
    image: husarnet/husarnet:2.0.170
    network_mode: host
    volumes:
      - /var/lib/husarnet  # This will persist your Husarnet Client keys, thus IP of the container will be stable/the same between (re)boots
    cap_add:
      - NET_ADMIN
    devices:
      - /dev/net/tun
    environment:
      - HUSARNET_DEBUG=true
      - HOSTNAME=my-robot
      - JOINCODE

If you do so, the hnet0 network interface will be available on you host OS:

user@my-laptop:~$ ip addr show
...
3: hnet0: <POINTOPOINT,MULTICAST,NOARP,UP,LOWER_UP> mtu 1350 qdisc fq_codel state UNKNOWN group default qlen 500
    link/none
    inet6 fc94:7781:50d4:bb97:cb4c:167a:c5b9:9a50/16 scope global
       valid_lft forever preferred_lft forever
    inet6 fe80::9887:3237:251b:4c16/64 scope link stable-privacy
       valid_lft forever preferred_lft forever

If you want to share hnet0 network namespace from your host OS with the ROS 2 containers you just need to run them with the network_mode: host, eg:

services:
  listener:
    image: husarion/ros2-demo-nodes:humble
    network_mode: host
    environment:
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - FASTRTPS_DEFAULT_PROFILES_FILE=file:///husarnet-cyclonedds.xml
    command: ros2 run demo_nodes_cpp talker

Note that we no longer need:

    depends_on:
      husarnet: { condition: service_healthy }

because before starting our ROS 2 services in Docker, the host operating systems are already in the same Husarnet network and therefore Husarnet-DDS operating inside the ROS 2 container can create a correct DDS XML file with all needed hosts.

PlotJuggler​

plotjuggler-ros:
  image: husarion/plotjuggler:humble
  environment:
    - DISPLAY=${DISPLAY}
  volumes:
    - /tmp/.X11-unix:/tmp/.X11-unix
    - /dev/dri:/dev/dri
  command: ros2 run plotjuggler plotjuggler

RViz​

rviz:
  image: husarion/rviz:noetic
  environment:
    - DISPLAY=${DISPLAY}
  volumes:
    - /tmp/.X11-unix:/tmp/.X11-unix
    - /dev/dri:/dev/dri

RViz2​

rviz2:
  image: husarion/rviz2:humble
  environment:
    - DISPLAY=${DISPLAY}
  volumes:
    - /tmp/.X11-unix:/tmp/.X11-unix
    - /dev/dri:/dev/dri