henry2423/docker-ros-vnc

A docker environment with ROS, Gazebo, Xfce4 VNC Desktop and Tensorflow

Docker container images with ROS, Gazebo, Xfce4 VNC Desktop and Tensorflow

This repository developed from ConSol/docker-headless-vnc-container, with provide the headless VNC environments for docker container

Current Image Build:

• henry2423/ros-vnc-ubuntu:kinetic : Ubuntu 16.04 with ROS Kinetic + Gazebo 8

  

• henry2423/ros-vnc-ubuntu:lunar : Ubuntu 16.04 with ROS Lunar + Gazebo 9

  

• henry2423/ros-vnc-ubuntu:melodic: Ubuntu 18.04 with ROS Melodic + Gazebo 9

  

Spec

This is a Docker environmentalist equipped with ROS, Gazebo, xfce-vnc, no-vnc(http vnc service) and TensorFlow-gpu. The container is developed under xfce-docker-container source and add the ROS, TensorFlow GPU environment on top of it, to provide a essential kit for anyone who develop with robotic and deep learning.

Usage

• Run command with mapping to local port 5901 (vnc protocol) and 6901 (vnc web access):

  docker run -d -p 5901:5901 -p 6901:6901 henry2423/ros-vnc-ubuntu:kinetic
  

• If you want to get into the container use interactive mode -it and bash

  docker run -it -p 5901:5901 -p 6901:6901 henry2423/ros-vnc-ubuntu:kinetic bash
  

• If you want to connect to tensorboard, run command with mapping to local port 6006:

  docker run -it -p 5901:5901 -p 6901:6901 -p 6006:6006 henry2423/ros-vnc-ubuntu:kinetic
  

• Build an image from scratch:

  docker build -t henry2423/ros-vnc-ubuntu:kinetic .
  

Connect & Control

If the container runs up, you can connect to the container throught the following

• connect via VNC viewer localhost:5901, default password: vncpassword
• connect via noVNC HTML5 full client: http://localhost:6901/vnc.html, default password: vncpassword
• connect via noVNC HTML5 lite client: http://localhost:6901/?password=vncpassword
• connect to Tensorboard if you do the tensorboard mapping above: http://localhost:6006
• The default username and password in container is ros:ros

Detail Environment setting

1.1) Using root (user id 0)

Add the --user flag to your docker run command:

docker run -it --user root -p 5901:5901 henry2423/ros-vnc-ubuntu:kinetic

1.2) Using user and group id of host system

Add the --user flag to your docker run command (Note: uid and gui of host system may not able to map with container, which is 1000:1000. If that is the case, check with 3):

docker run -it -p 5901:5901 --user $(id -u):$(id -g) henry2423/ros-vnc-ubuntu:kinetic

2) Override VNC and Container environment variables

The following VNC environment variables can be overwritten at the docker run phase to customize your desktop environment inside the container:

• VNC_COL_DEPTH, default: 24
• VNC_RESOLUTION, default: 1920x1080
• VNC_PW, default: vncpassword
• USER, default: ros
• PASSWD, default: ros

2.1) Example: Override the VNC password

Simply overwrite the value of the environment variable VNC_PW. For example in the docker run command:

docker run -it -p 5901:5901 -p 6901:6901 -e VNC_PW=vncpassword henry2423/ros-vnc-ubuntu:kinetic

2.2) Example: Override the VNC resolution

Simply overwrite the value of the environment variable VNC_RESOLUTION. For example in the docker run command:

docker run -it -p 5901:5901 -p 6901:6901 -e VNC_RESOLUTION=800x600 henry2423/ros-vnc-ubuntu:kinetic

3) Mounting local directory to conatiner

You should run with following environment variable in order to mapping host user/group with container, and retrieve R/W permission of mounting directory in container (Note: after running this command, the user account in container will be same as host account):

  docker run -it -p 5901:5901 \
    --user $(id -u):$(id -g) \
    --volume /etc/passwd:/etc/passwd \
    --volume /etc/group:/etc/group \
    --volume /etc/shadow:/etc/shadow \
    --volume /home/ros/Desktop:/home/ros/Desktop:rw \
    henry2423/ros-vnc-ubuntu:kinetic

4) Connecting jupyter notebook within container

• Run command with mapping to local port 8888 (jupyter protocol) and 8888 (host web access):

  docker run -d -p 8888:8888 henry2423/ros-vnc-ubuntu:kinetic
  

• Check your local IP within container using $ifconfig, then you can start up jupyter notebook in container with following command:

  jupyter notebook --ip={YOUR CONTAINER IP} --port=8888 --allow-root
  

• After start up the jupyter kernel, you can access the notebook from host browser through HTTP service.

  http://localhost:8888/
  

Contributors

• ConSol/docker-headless-vnc-container - developed the ConSol/docker-headless-vnc-container

docker-ros-vnc's Issues

Catkin not found

The container isn't able to run Catkin. It seems like you must have it in the build. Suggestions?

how to copy & paste between container and host?

@henry2423 ,
How to copy & paste between container and host?

Running a node that uses gazebo using docker exec doesn't work

After I run the container using docker run -d -p 5901:5901 -p 6901:6901 henry2423/ros-vnc-ubuntu:kinetic, I can access the vnc interface through my browser.
Now I have a sample project rrbot https://github.com/ros-simulation/gazebo_ros_demos.
I can only start the gazebo when I run the roslaunch command from browser.
But if I run the roslaunch command using docker exec -t c32f456bba2c bash -c "roslaunch rrbot_gazebo rrbot_world.launch", it starts the node but doesn't spin up gazebo in the vnc desktop. It gets stuck here

started core service [/rosout]
process[gazebo-2]: started with pid [176]
[ INFO] [1600019161.652547400]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1600019161.653956700]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
process[gazebo_gui-3]: started with pid [196]
[ INFO] [1600019162.131817800]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1600019162.132983500]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
gazeb: cannot connect to X server 
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
terminate called recursively
  what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted
process[urdf_spawner-4]: started with pid [278]
[gazebo_gui-3] process has died [pid 196, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/ubuntu/.ros/log/fbc04204-f5e8-11ea-b56f-0242ac110002/gazebo_gui-3.log].
log file: /home/ubuntu/.ros/log/fbc04204-f5e8-11ea-b56f-0242ac110002/gazebo_gui-3*.log
SpawnModel script started
[INFO] [1600019162.889144, 0.000000]: Loading model XML from ros parameter
[INFO] [1600019162.892796, 0.000000]: Waiting for service /gazebo/spawn_urdf_model

Can you please help?

M1 Macbook incompatibility

After connecting docker container via vnc over browser or vnc viewer on M1 MacBook , gazebo or Rviz doesn't work on container but it works on Linux OS. I think that it should be related with X11 forwarding. The rest work like roscore only gui needed programs don't work.

Rviz Error

QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-ros'
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-ros'
[ INFO] [1640298158.681437429]: rviz version 1.13.1
[ INFO] [1640298158.683854846]: compiled against Qt version 5.9.5
[ INFO] [1640298158.683982096]: compiled against OGRE version 1.9.0 (Ghadamon)
libpng warning: iCCP: known incorrect sRGB profile
libpng warning: iCCP: known incorrect sRGB profile
qemu:handle_cpu_signal received signal outside vCPU context @ pc=0x31e1f6
Aborted

Gazebo Error

Operation not permitted (src/thread.cpp:231)
Operation not permitted (src/thread.cpp:231)
qemu: uncaught target signal 6 (Aborted) - core dumped

Cannot fetch packages from apt due to invalid GPG key

When using any apt command, it mostly fails due to a GPG mismatch. The issue is that the ROS feeds (which are added) changed the GPG key. See https://discourse.ros.org/t/new-gpg-keys-deployed-for-packages-ros-org/9454 for details.

The fix I currently do is call the following:

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116

Would be great to have the correct GPG key already in the base image.