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I've made a basic Dockerfile which installs ROS hydro on top of the ubuntu precise image:
https://gist.github.com/jonbinney/7365141
You can remove the vnc stuff if you don't want to be able to see GUI apps. I'm still working out how to handle networking, for instance exposing the right ports for ROS publishers.
So... have you been successful figuring out how to expose the dynamic node ports?
This is an old question, but for those who may stumble across this, there are now official ROS [1] and Gazebo [2] Docker images available on Docker Hub.
You can pull the latest LTS version of ROS via:
docker pull ros
as well as the latest release of Gazebo similarly:
docker pull gazebo
Please check the full description provided on the respective Docker Hub repo pages for further details.
1 hub.docker.com/_/ros
2 hub.docker.com/_/gazebo
I've made the container with vnc and web view for vnc. It installs ros indigo base on top of ubuntu 14.04 trusty, mount and configures workspace, launches vnc server. If someone wants ros desktop full, just fix the line in the Dockerfile.
There have been recently released the official ROS2 docker images for ROS2 Ardent which can be found on hub.docker.com, refer to the post on discourse.ros.org.
Thank you jbinney! I'm also confused by exposing dynamic ports. In how-to-assign-a-port-mapping-to-an-existing-docker-container thread on stackoverflow I've learned about Pipework but still don't know how to fit it to our use case.
pipework looks promising. i'm also playing around with writing a little xmlrpc server which sits in between the ros nodes and the ros master, and uses IP tables to expose ports on the fly as ros nodes open connections. it'd be nice to avoid that extra process in the loop though.
Asked: 2013-11-06 01:47:39 -0500
Seen: 3,166 times
Last updated: Jan 25 '18
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Its not that hard to set up ROS in a docker container. The problem is that it doesn't work very well, due to networking issues: ROS and Docker clash over how they want to do networking. A long, detailed analysis is here: https://github.com/opencog/docker/tre... (about half-way down).