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Build and push MoveIt2 and Nav2 containers to DockerHub (issue #254)
Add space-ros-moveit2 job (issue #254) Push space-ros-nav2 image to Docker Hub (issue #254) Change names to osrf/space-ros-nav2 and osrf/space-ros-moveit2 (issue #254) Only trigger workflows for files that changed (issue #254) Change Nav2 bringup package name (issue #254) Update README files to be more clear (issue #254)
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‎.github/workflows/docker-build.yml‎

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‎.github/workflows/moveit2-build.yml‎

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name: MoveIt2 Docker build
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on:
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workflow_dispatch:
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push:
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branches: ['main']
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paths: 'moveit2/**'
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pull_request:
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branches: ['main']
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paths: 'moveit2/**'
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schedule:
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- cron: '0 2 * * *'
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jobs:
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space-ros-moveit2:
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runs-on: ubuntu-24.04
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env:
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IMAGE_TAG: "${{ github.head_ref || github.ref_name }}"
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GHCR_IMAGE_NAME: "ghcr.io/space-ros/space-ros-moveit2"
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DOCKER_HUB_USERNAME: osrfbot
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DOCKER_HUB_TOKEN: ${{ secrets.DOCKER_HUB_RW_TOKEN }}
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DOCKER_HUB_IMAGE_NAME: "osrf/space-ros-moveit2"
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steps:
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- name: Checkout
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uses: actions/checkout@v3
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- name: Build and tag Docker image
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uses: docker/build-push-action@v6
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with:
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context: moveit2
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push: false
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tags: |
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${{ env.DOCKER_HUB_IMAGE_NAME }}:${{ env.IMAGE_TAG }}
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# Login and push the main builds to GHCR
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- name: Login to GHCR
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uses: docker/login-action@v3
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if: ${{ github.ref_name == 'main' }}
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with:
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registry: ghcr.io
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username: ${{ github.actor }}
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password: ${{ secrets.GITHUB_TOKEN }}
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- name: Push the main spaceros image to GHCR
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if: ${{ github.ref_name == 'main' }}
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run: |
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docker tag "$DOCKER_HUB_IMAGE_NAME:$IMAGE_TAG" "$GHCR_IMAGE_NAME:$IMAGE_TAG"
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docker push "$GHCR_IMAGE_NAME:$IMAGE_TAG"
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# Push both tagged releases and the latest main builds to Dockerhub
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- name: Push spaceros images to Dockerhub
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if: ${{ github.ref_type == 'tag' || github.ref_name == 'main' }}
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run: |
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# We must login using the password and not the action, as the action only supports tokens.
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echo "$DOCKER_HUB_TOKEN" | docker login --username "$DOCKER_HUB_USERNAME" --password-stdin
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docker push "$DOCKER_HUB_IMAGE_NAME:$IMAGE_TAG"
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# Any tagged image should also be marked as "latest"
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- name: Push spaceros latest images to Dockerhub
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if: ${{ github.ref_type == 'tag' }}
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run: |
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# We must login using the password and not the action, as the action only supports tokens.
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echo "$DOCKER_HUB_TOKEN" | docker login --username "$DOCKER_HUB_USERNAME" --password-stdin
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docker tag "$DOCKER_HUB_IMAGE_NAME:$IMAGE_TAG" "$DOCKER_HUB_IMAGE_NAME:latest"
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docker push "$DOCKER_HUB_IMAGE_NAME:latest"

‎.github/workflows/nav2-build.yml‎

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name: Nav2 Docker build
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on:
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workflow_dispatch:
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push:
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branches: ['main']
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paths: 'navigation2/**'
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pull_request:
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branches: ['main']
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paths: 'navigation2/**'
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schedule:
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- cron: '0 2 * * *'
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jobs:
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space-ros-nav2:
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runs-on: ubuntu-24.04
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env:
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IMAGE_TAG: "${{ github.head_ref || github.ref_name }}"
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GHCR_IMAGE_NAME: "ghcr.io/space-ros/space-ros-nav2"
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DOCKER_HUB_USERNAME: osrfbot
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DOCKER_HUB_TOKEN: ${{ secrets.DOCKER_HUB_RW_TOKEN }}
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DOCKER_HUB_IMAGE_NAME: "osrf/space-ros-nav2"
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steps:
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- name: Checkout
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uses: actions/checkout@v3
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- name: Build and tag Docker image
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uses: docker/build-push-action@v6
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with:
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context: navigation2
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push: false
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tags: |
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${{ env.DOCKER_HUB_IMAGE_NAME }}:${{ env.IMAGE_TAG }}
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# Login and push the main builds to GHCR
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- name: Login to GHCR
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uses: docker/login-action@v3
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if: ${{ github.ref_name == 'main' }}
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with:
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registry: ghcr.io
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username: ${{ github.actor }}
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password: ${{ secrets.GITHUB_TOKEN }}
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- name: Push the main spaceros image to GHCR
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if: ${{ github.ref_name == 'main' }}
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run: |
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docker tag "$DOCKER_HUB_IMAGE_NAME:$IMAGE_TAG" "$GHCR_IMAGE_NAME:$IMAGE_TAG"
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docker push "$GHCR_IMAGE_NAME:$IMAGE_TAG"
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# Push both tagged releases and the latest main builds to Dockerhub
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- name: Push nav2 images to Dockerhub
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if: ${{ github.ref_type == 'tag' || github.ref_name == 'main' }}
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run: |
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# We must login using the password and not the action, as the action only supports tokens.
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echo "$DOCKER_HUB_TOKEN" | docker login --username "$DOCKER_HUB_USERNAME" --password-stdin
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docker push "$DOCKER_HUB_IMAGE_NAME:$IMAGE_TAG"
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# Any tagged image should also be marked as "latest"
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- name: Push nav2 latest images to Dockerhub
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if: ${{ github.ref_type == 'tag' }}
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run: |
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# We must login using the password and not the action, as the action only supports tokens.
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echo "$DOCKER_HUB_TOKEN" | docker login --username "$DOCKER_HUB_USERNAME" --password-stdin
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docker tag "$DOCKER_HUB_IMAGE_NAME:$IMAGE_TAG" "$DOCKER_HUB_IMAGE_NAME:latest"
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docker push "$DOCKER_HUB_IMAGE_NAME:latest"

‎moveit2/README.md‎

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# MoveIt2 Docker Image
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The MoveIt2 Docker image can be pulled directly from Docker Hub [osrf/space-ros-moveit2](https://hub.docker.com/r/osrf/space-ros-moveit2/tags) for use in space applications. The image is based on the Space ROS docker image [osrf/space-ros:latest](https://hub.docker.com/r/osrf/space-ros/tags) as its base image.
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The MoveIt2 Docker image uses the Space ROS docker image (*openrobotics/spaceros:latest*) as its base image.
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The MoveIt2 Dockerfile installs all of the prerequisite system dependencies to build MoveIt2 (and Moveit2 tutorials) and then pulls and builds the latest MoveIt2 and Moveit2 tutorials source code.
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Because the build can take over an hour, it's recommended to use the pre-built Docker Hub image for creating demos, however the MoveIt2 Docker image can also be built from source using the instructions below, so that it can be customized for a space application.
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## Building the MoveIt2 Image
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The MoveIt2 *Dockerfile* installs all of the prerequisite system dependencies to build MoveIt2 (and Moveit2 tutorials) and then pulls and builds the latest MoveIt2 and Moveit2 tutorials source code.
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To build the docker image, run:
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SPACE_ROS_IMAGE="osrf/space-ros:jazzy-2025.04.0" MOVEIT2_TAG="jazzy-2025.04.0" ./build.sh
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```
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The build process will take about 45 minutes, depending on the host computer.
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The build process will take about 45-90 minutes, depending on the host computer.
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## Running the MoveIt2 Docker Image in a Container
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```bash
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REPOSITORY TAG IMAGE ID CREATED SIZE
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openrobotics/moveit2 latest bd7342baeff2 4 hours ago 5.49GB
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osrf/space-ros-moveit2 latest bd7342baeff2 4 hours ago 5.49GB
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osrf/space-ros latest 18a3c6709c93 6 hours ago 1.37GB
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```
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The new image is named **openrobotics/moveit2:latest**.
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The new image is named **osrf/space-ros-moveit2:latest**.
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There is a run.sh script provided for convenience that will run the spaceros image in a container.
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```
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spaceros-user@8e73b41a4e16:~/moveit2#
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```
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At this point, you can run the MoveIt2 tutorials (not covered here), or build your own application on top of this image.
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## Running the Space ROS Space Robots Demos
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Once you have tested that MoveIt2 works, you are ready to run some of the other [Space ROS space robot demos](../space_robots/README.md).
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For examples using this image, see the [space-ros/demos](https://github.com/space-ros/demos) repository.

‎moveit2/build.sh‎

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#!/usr/bin/env bash
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ORG=openrobotics
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IMAGE=moveit2
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ORG=osrf
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IMAGE=space-ros-moveit2
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TAG=${MOVEIT2_TAG:-"latest"}
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VCS_REF=""

‎moveit2/run.sh‎

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# docker
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# an X server
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IMG_NAME=openrobotics/moveit2
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IMG_NAME=osrf/space-ros-moveit2
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IMG_TAG=latest
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# Replace `/` with `_` to comply with docker container naming

‎nav2_demo/Dockerfile‎

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# VCS_REF - The git revision of the Space ROS source code (no default value).
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# VERSION - The version of Space ROS (default: "preview")
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FROM osrf/space_nav2:latest
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FROM osrf/space-ros-nav2:latest
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# Define arguments used in the metadata definition
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ARG VCS_REF

‎nav2_demo/README.md‎

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./build.sh
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```
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There will now be a docker image called "osrf/space_nav2_demo:latest".
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There will now be a docker image called "osrf/space-ros-nav2-demo:latest".
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## Run the Mars Rover demo with Nav2 and SLAM toolbox
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## Terminal 2 - launch Nav2
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Start the space_nav2 container and launch the navigation2 nodes:
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Start the space-ros-nav2 container and launch the navigation2 nodes:
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```
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./run.sh
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ros2 launch space_nav2_bringup navigation_launch.py use_sim_time:=True params_file:=nav2_params.yaml
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ros2 launch space_ros_nav2_bringup navigation_launch.py use_sim_time:=True params_file:=nav2_params.yaml
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```
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## Terminal 3 - launch localization with map
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```
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docker exec -it osrf_space_nav2_demo bash
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docker exec -it osrf_space-ros-nav2-demo bash
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source install/setup.bash
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ros2 launch space_nav2_bringup localization_launch.py use_sim_time:=True map:=mars_map.yaml params_file:=nav2_params.yaml
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ros2 launch space_ros_nav2_bringup localization_launch.py use_sim_time:=True map:=mars_map.yaml params_file:=nav2_params.yaml
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```
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## Terminal 4 - launch Rviz
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Exec into the same space_nav2 container and launch Rviz2:
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Exec into the same space-ros-nav2 container and launch Rviz2:
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```
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docker exec -it -e DISPLAY osrf_space_nav2_demo bash
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docker exec -it -e DISPLAY osrf_space-ros-nav2-demo bash
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source /opt/ros/humble/setup.bash
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source install/setup.bash
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ros2 launch nav2_bringup rviz_launch.py

‎nav2_demo/build.sh‎

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#!/usr/bin/env bash
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ORG=osrf
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IMAGE=space_nav2_demo
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IMAGE=space-ros-nav2-demo
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TAG=latest
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VCS_REF=""

‎nav2_demo/run.sh‎

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# docker
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# an X server
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IMG_NAME=osrf/space_nav2_demo
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IMG_NAME=osrf/space-ros-nav2-demo
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IMG_TAG=latest
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# Replace `/` with `_` to comply with docker container naming

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