lewkoo/ros-docker

Docker Image wrappers and config scripts for various ROS (Robot Operating System) packages

ROS Indigo Docker Packages

Docker Image wrappers and config scripts for various ROS (Robot Operating System) Indigo packages I have needed for my projects. I tried to keep with Docker's simple-purpose image/container philosophy. As such, you will need to use Docker's experimental networking to have the various containers play nicely together (more below).

Use with Docker Compose

A sample Docker Compose file is included to show you how to launch each package, including a rosmaster image for running the roscore node.

Be sure you are running Docker Compose with Experimental Networking enabled. (For more information see my post: Docker Experimental Networking and ROS):

docker-compose --x-networking up -d

Working Packages

• ROS Master -- Simple laucch script around ROS's official roscore Docker Image.
• ROS Tutorials -- Full tutorials are installed, Docker Compose only runs talker/listener
• ROS Image View -- Full image-pipeline is installed, Docker Compose only launches image_view
• ROS Leap Motion -- Finger and hand tracking in ROS with the Leap Motion
• ROS USB Camera -- USB webcam image stream for ROS using libuvc_camera (More info)
• ROS KINECT -- Kinect (v1) sensor using the libfreenect package. Also includes openni packages.
• ROS RViz -- RViz 3D visualization tool for ROS

Notes

• IMPORTANT: If you are using Image View, RVIZ or other packages that have graphic displays be sure to set xhost + on the host machine to authorize a connection to the X host. Also be sure to set the correct uid and gid to your user in the Dockerfile.
• I am working on making each package available on Docker Hub as an automated build. If one is missing because I haven't added it yet, use the build: ros-package-name/. in the docker-compose.yml to build it.
• I made these Docker Images as a fast way to spin-up ROS for my own projects. As such, things are likely to change a lot. I recommend forking the code for your own use.
• I am running these under Linux. They should work just fine under OSX using Docker-Machine and XQuartz with some minor debugging. I don't know enough about Docker under Windows to know how well it will work.
• I'd love recommendations for updates and improvements/additional ROS packages as pull-requests.

Cheers,

• Todd