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DockerROS2

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Junichi Tokuda edited this page Sep 23, 2021 · 12 revisions

A Docker image for the ISMR Workshop tutorial was set up as follows.

Docker Image

docker-ubuntu-vnc-desktop, a Ubuntu 20.04 container with HTML5 VNC server, seems to be robust and well used by the community. The Dockerfile is available in Github, unlike some of the other similar containers. Also, the Dockerfile is written in a way that it can be built for non-Intel platforms.

ROS 2 can be integrated by replacing the base container with an official ROS 2 container. The forked repository is available in the ROSMED GitHub repository.

The Docker image will be available at Docker Hub.

###TODO We need to include the following additional packages in the container, as we did in ISMRM 2019

  • ROS-Industrial
  • ROS Universal Robot package
  • ROS MoveIt! package
  • OpenIGTLink
  • ROS-IGTL-Bridge

Building Docker Image (Not needed)

The Dockerfile repository can be obtained by cloning the repository at GitHub. Please note that '--recursive' option is required to build the image correctly.

$ git clone --recursive https://github.com/rosmed/docker-ubuntu-vnc-desktop

To build an image, run the following command:

$ cd docker-ubuntu-vnc-desktop
$ docker build -t rosmed/docker-ubuntu-vnc-desktop .

Running Docker image

If you run the image available in the Docker Hub, pull the image using the following command:

$ docker pull docker pull rosmed/docker-ubuntu-vnc-desktop

To execute the docker image, call the following command:

$ docker run -it --rm -p 6080:80 rosmed/docker-ubuntu-vnc-desktop

In this example, the web port on the docker container will be mapped to port 6080 on the host computer. The '--rm' option will remove the container upon termination.

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