maiquelb/embedded-mas-ros2 repository overview

First, create a docker network called ros:

docker network create ros

Some ROS applications (e.g turtlesim) requier a graphical interface. This image uses the noVNC, which is a remote-desktop web client, to visualize the GUIs of ROS applications in a browser. To start noVNC, use

docker run -d --rm --net=ros --env="DISPLAY_WIDTH=3000" --env="DISPLAY_HEIGHT=1800" --env="RUN_XTERM=no" --name=novnc -p=8080:8080 theasp/novnc:latest

noVNC should now be run as a web application inside the container and listening on port 8080. We can see the noVNC interface at http://<host name>:8080/vnc.html . For example, if the host is our local machine then that will be http://localhost:8080/vnc.html⁠ . Open this in a modern web browser (not IE) and click the Connect button. You should see see an empty desktop.

To run the container, use docker run -it -p11311:11311 -p9090:9090 --rm --net=ros maiquelb/embedded-mas-ros2:0.6

To start the turtlesim simulator, use ros2 run turtlesim turtlesim_node