frankjoshua/ros-master repository overview

⁠ROS master in Docker

⁠Description

Runs a ros master in a Docker container. Probably need --network="host" because ROS uses ephemeral ports.

This repo is mostly an example of how to build a multi architecture docker container with ROS (Robotic Operating System). Github Actions is used to build 3 docker containers using docker buildx amd64 (x86 Desktop PC), arm64 (Jetson Nano) and arm32 (Raspberry Pi). This is for the purpose of developing locally on a work pc or laptop. Then being able to transfer your work to an embedded device with a high level of confidence of success.

⁠Example

docker run -it \
    --network="host" \
    --env="ROS_IP=$ROS_IP" \
    --env="ROS_MASTER_URI=$ROS_MASTER_URI" \
    frankjoshua/ros-master

⁠Building

Use build.sh⁠ to build the docker containers.

Local builds are as follows:

./build.sh -t frankjoshua/ros-master -l

⁠Template

This repo is a GitHub template. Just change the repo name in .github/workflows/ci.yml⁠ and edit Dockerfile⁠ and README.md⁠ to taste.

⁠Testing

Github Actions expects the DOCKERHUB_USERNAME and DOCKERHUB_TOKEN variables to be set in your environment.

⁠License

Apache 2.0

⁠Author Information

Joshua Frank @frankjoshua77⁠
http://roboticsascode.com⁠