- Install Docker Engine and Docker Compose
- If you are running this on a Raspberry Pi, you need to add swap for building
librealsense:
Initial value is 100MB, but we need to build libraries so initial value isn't enough for that. In this case, need to switch from 100 to 2048 (2GB).
$ sudo vim /etc/dphys-swapfile
CONF_SWAPSIZE=2048
$ sudo /etc/init.d/dphys-swapfile restart swapon -s
-
Fix broken docker-compose As docker-compose makes things more reproducable but is broken in the actual hypriot image, we will fix this by typing this in to the raspberry terminal:
sudo easy_install --upgrade pip
sudo pip uninstall docker docker-compose -y
sudo pip install requests==2.20.1
sudo pip install docker==3.7.2
sudo pip install docker-compose==1.23.0
- We use
Fabricto streamline build and development, to installFabric:
pip install Fabric3
#or
sudo apt install fabric
The directory should look like this
.
+-- docker-compose.yml
+-- dockers
| +-- docker-ros-{name1}
| | +-- Dockerfile
| | +-- ...
| +-- docker-ros-{name2}
| | +-- Dockerfile
| | +-- ...
+-- packages
| +-- package1
| +-- package2
All dockers should reside in the dockers folder, and the packages should be cloned into the packages folder as submodules and mounted to the containers.
We provide a build.sh script for building and pushing images, usage:
usage: ./build.sh image1 image2 ... imageN
Give the images to build. If no image is given, all folders in /dockers will be built.
Arguments:
-h|--help: Usage
-d|--dir: dockers directory. Default: dockers
-r|--ros0distro: ros distibution. Default: kinetic
Examples:
./build.sh ros-gui ros-master #build specific images
./build.sh #build all
We provide a run.sh script for launching images, usage:
Usage:
Give the images to build. If no image is given, all folders in /dockers will be built.
Arguments:
-h|--help: Usage
-s|--start: Run dockers
-b|--build: Start with build
-a|--attached: Run in attached mode to see output
-e|--end: Stop dockers
Examples:
./run.sh -s #start dockers
./run.sh -s -b #build and start dockers
./run.sh -s -a #start dockers in attached mode
./run.sh -e #end dockers
Docker for d415/d435 using ROS Dockerized ROS environment with Realsense support.
This project is inspired by docker-ros-d415, gobbit project and ROS Docker Tutorials.
xhost +local:root
docker run -it --rm \
-e DISPLAY=$DISPLAY \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-v $HOME/.Xauthority:$HOME/.Xauthority \
--net=host \
yuxiang-gao/ros-gui \
/bin/bash
- Bring up the containers:
docker-compose up -d - Check status
docker ps - To enter interactive mode
$ docker exec -it master bash
$ source /ros_entrypoint.sh
- Bring down the containers:
Docker-compose down
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