ROS2 and Webots Docker file

asked 2022-03-29 05:08:18 -0600

AlexandrosNic
233 ●20 ●30 ●32

updated 2022-03-29 05:09:42 -0600

I noticed that currently there is not any really functional docker file to power up ROS2 with Webots. I am wondering whether this is because users generally prefer to build either of the two (or both) locally on their working machine instead of using docker, or whether there is not much interest in it yet.

In any case this is what I found by searching:

If someone can prompt me to another solution, it will be very welcomed.

In the meantime, I am building a new one which I will post here in case there is interest, however, I am not very comfortable with Docker yet.

Currently working with Windows-WSL2, ROS2 Foxy

PS. I know answers.ros is not the best for ROS2 matters, but it is easier to reach more people from here.

answered 2022-04-12 08:41:07 -0600

lukicdarkoo
486 ●3 ●28 ●17 https://spes.ai

We are using Webots and ROS 2 in the same Docker:
https://github.com/memristor/mep3/tre...

It is a slightly different use case as ROS 2 and Webots are installed at the container startup. However, you can simply bake everything in the Docker image.

In addition, the Docker supports:
- X11 forwarding: You can open Webots (or RViz) in the container and the window will be displayed in the host.
- Hardware acceleration: It is tested on NVIDIA and AMD GPUs.
- VNC: A VNC server automatically starts and it is accessible through a web browser (thanks to noVNC).

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I created a docker from scratch which I used without problems (that's not true..) until I reached the moveit part. There, for some reason it was not working well. Then I tried your docker and it was working perfect. Thank you for sharing! I noticed that the main difference is that while in my docker, everything (from programs - ROS2, Webots, rviz2... - to the workspace) were installed and configured inside the container, in your docker, the programs only were installed in the container and then the workspace in the host. I am wondering if that's indeed the reason, and if yes, do you know why?

AlexandrosNic ( 2022-09-27 17:38:00 -0600 )edit

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