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What packages are in different ros dockerhub images?

asked 2022-01-17 11:47:55 -0500

lucasw gravatar image

updated 2022-01-17 11:58:01 -0500

What are the differences between the different images listed in

For example:

noetic-ros-core, noetic-ros-core-focal
noetic-ros-base, noetic-ros-base-focal, noetic
noetic-robot, noetic-robot-focal
noetic-perception, noetic-perception-focal

The ones listed on the same lines are the same, aliases for each other. Ubuntu 20.04 is focal, I think buster is just for arm architectures, or maybe even just raspberry pi. Does perception have everything in robot but then some more packages on top of that?

Following one of the links leads to

RUN apt-get update && apt-get install -y --no-install-recommends \

So the right apt/dpkg command could list everything in ros-noetic-perception or ros-noetic-robot (I'm looking now but I'm not coming up with the right search terms).

I could pull down the images and run dpkg -l | grep ros-noetic in them (though I wasn't intending to work with the containers directly, just wanted one for use in a github action). has some clues for some of the packages but doesn't quite get there- maybe desktop-full overlaps with ros-perception, but neither is a superset of the other, or it has everything in perception then more besides?

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answered 2022-01-17 12:37:42 -0500

gvdhoorn gravatar image

updated 2022-01-17 13:12:47 -0500

I believe the naming of these images -- and their contents -- follows the variants defined in REP-150: ROS Melodic and Newer Metapackages (for ROS 2, it's REP-2001: ROS 2 Variants).

For ros_core for instance:

The ros_core metapackage composes the core communication protocols. It may not contain any GUI dependencies.

- ros_core:
     packages: [catkin, class_loader, cmake_modules, common_msgs, gencpp,
                geneus, genlisp, genmsg, gennodejs, genpy, message_generation,
                message_runtime, pluginlib, ros, ros_comm,
                rosbag_migration_rule, rosconsole, rosconsole_bridge,
                roscpp_core, rosgraph_msgs, roslisp, rospack, std_msgs,

that's why you only see apt-get install [..] ros-noetic-perception in the Dockerfile.

It just installs the perception variant.

The focal and buster suffixes are indeed to differentiate between the different OS supported by a particular ROS version.

ROS Noetic supports both Ubuntu Focal and Debian Buster. But the ros_core variant is part of both of those.

So to differentiate between them, the OS code name was added, which makes it

The ros_core variant of ROS Noetic on Ubuntu Focal

and similar for Debian Buster.

Those Dockerfiles are not written by hand, but generated using the scripts in the osrf/docker_images repository. Those scripts parse a large .yaml file which contains information on all the different OS + ROS version + variant combinations. See osrf/docker_images/ros/manifest.yaml for the information used to generate the ROS Noetic images.

The tags for each image are also generated based on this information:

  eol: 2025-05
          <<: *DEFAULT_ROS1
            - amd64
            - arm32v7
            - arm64v8
                - "$release_name-ros-core"
                - "$release_name-ros-core-$os_code_name"

See the aliases key, which is responsible for the noetic-ros-core, noetic-ros-core-focal images you found (and which indeed contain the same packages).

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Comments answers the robot vs. perception question- they both use ros_base but have nothing in common besides that.

What I really want is a desktop_fullimage, which exists on - but isn't list on dockerhub.

lucasw gravatar image lucasw  ( 2022-01-17 15:45:52 -0500 )edit - there's a desktop-fullentry but it's commented out, but I can docker pull it and it's listed under osrf ... but it's 6 months old, so probably an apt update/upgrade is more expensive than a more recent image of noetic-perception or noetic-robot and installing the minimum of additional packages

lucasw gravatar image lucasw  ( 2022-01-17 16:02:49 -0500 )edit

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Asked: 2022-01-17 11:47:55 -0500

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Last updated: Jan 17