ascendntnu/ros-kinetic repository overview

⁠Generate ROS:kinetic image with ascend_msgs

This image extends ros:kinetic by adding a few build packages and fetch a spesific version of ascend_msgs.

⁠Usage

There are provided two ways of using this image. We really recommend using Docker Compose as an inline Docker command would be enormous.

⁠Docker Compose (with inline commands)

version: '3'

services:
  nodes:
    image: ascendntnu/ros-kinetic:1.2
    tty: true
    environment:
      - ASCEND_ENV # Specify if it is a production environment. Just set ASCEND_ENV=production outside the container.
    command: bash -c "cd /catkin_ws && catkin_make && source devel/setup.bash && roslaunch nodes run_nodes.launch"
    volumes:
      - .:/catkin_ws/src/node1/:rw
      - .:/catkin_ws/src/node2/:rw
      - ... # Supports multiple projects located in /catkin_ws/src
    network_mode: "host" # Important if you want to talk to nodes outside the Docker environment. Or if you want a GUI.

⁠Docker Compose (with build script)

This is great to use if you have a huge file with a lot of commands. It works by mounting a file to: /build.sh and executing this file as the startup command.

IMPORTANT:

• Do not specify a command, as this config requires to use the default command from the Dockerfile: /build.sh. You can, however, use the command: /build.sh if you need to override another extended config.
• You must mount a file to the location: /build.sh inside the container through volumes.
• You must make this mounted file executable by a root user. Possible to do so by $ chmod +x some_startup_script.sh.

version: '3'

services:
  nodes:
    image: ascendntnu/ros-kinetic:1.2
    tty: true
    volumes:
      - .:/catkin_ws/src/node1/:rw
      - ./some_startup_script.sh:/build.sh:ro # Mount to the /build.sh script.
    network_mode: "host"