Docker-based ROS1 Workspace for Robotics Course

Overview

This project provides a Dockerized environment for developing and running ROS1-based applications for the robotics course. It includes a pre-built Docker image that simplifies the setup process and ensures consistency across different machines.

Folder Structure

• docker/ - Contains the Docker-related files.
  • Dockerfile - Defines the Docker image. Only needed for custom builds.
  • build.sh - Script to build the Docker image locally.
• start.sh - Script to start the Docker container. It pulls the pre-built image from the repository and mounts relevant folders.
• catkin_ws/ - Workspace for ROS development.
• data/ - Storage folder for data.
• macos_users/ - Start scripts for MacOs userser, using noVNC as a server to stream a virtual desktop.
• windows_users/ - Start scripts for Windows userser, using noVNC as a server to stream a virtual desktop.

Usage (Linux based systems/macos)

These instructions are for linux-based system or MacOS systems with an x-server equivalent installed, like XQuartz

Starting the Container

To start the Docker container, run:

./start.sh

This script pulls the pre-built image from the repository and mounts the catkin_ws and data folders to ensure persistence.

If you want to use a custom-built Docker image, modify start.sh accordingly.

Connecting to the running Container

./connect.sh

This script can be run after start.sh to connect to the running container from a new terminal.

Building a Custom Docker Image

If you need to customize the Docker image, navigate to the docker/ folder and run:

cd docker
./build.sh

Then, update start.sh to use the newly built image instead of pulling from the repository.

Usage (Windows based systems, using noVNC)

Navigate to the scripts folder windows_users/, using Windows Powershell (scripts are written for Windows Powershell, not Windows cmd)

ONLY the first time run this command to inizialize the comunication between different ROS containers

.\docker network create ros

First start the noVNC server:

.\windows_gui_initialize.ps1

Then start the ROS docker

.\start.ps1

To visualize GUI-based applications navigate to: http://localhost:8080/vnc.html After pressing connect you should be able to see a desktop where gui-based applications run inside docker are shown

Usage (MacOS based systems, using noVNC)

Navigate to the scripts folder macos_users/

ONLY the first time run this command to inizialize the comunication between different ROS containers

.\docker network create ros

First start the noVNC server:

.\macos_gui_initialize.ps1

Then start the ROS docker

.\start.ps1

To visualize GUI-based applications navigate to: http://localhost:8080/vnc.html After pressing connect you should be able to see a desktop where gui-based applications run inside docker are shown

Workspace Setup

Once inside the Docker container, you will have access to:

• A catkin_ws folder in your home directory to develop ROS packages.
• A data folder for persistent data storage.

These folders are mounted, meaning any changes made persist across container restarts.

Notes

• Ensure Docker is installed on your system before running the scripts.
• If modifying start.sh, ensure it points to the correct Docker image.
• The default workflow uses the pre-built Docker image for convenience, but custom images can be built if needed.