microros/demo_kobuki repository overview

⁠Docker

This repository contains docker-related material to setup, configure and develop with micro-ROS⁠ These set of Dockerfiles provide ready-to-use environments and applications. The Docker images are available in dockerhub⁠.

Avaiable images are listed below:

⁠Pre-requisite

You need to have docker in your system. For installing docker, refer to the official documentation at https://www.docker.com/⁠.

⁠Usage

To get an image, you use docker pull command:

• e.g. docker pull microros/base

You can select the tag to use appending :tag to the image name

• e.g. docker pull microros/base:dashing

Once you have the image locally, to start it use docker run

• e.g. docker run -it microros/micro-ros-agent

-it allocates a pseudo-TTY for you and keeps stdin listening. Another used command is -v to map local files with docker container ones. -v is useful in case you may want to flash boards from within a Docker container.

⁠base image

It is the base for the rest of the containers. It contains the necessary micro-ROS setup tools and dependencies. From this image, you can start any development targeting micro-ROS.

⁠firmware image

This image as the base one, it is used as a starting point to those images using firmware. This image contains a firmware workspace setup and dependencies.

⁠micro-ros-agent

This image purpose serves as a stand-alone application. It includes installation of the ROS 2 version selected by the tag along with a micro-ROS-Agent. The entry point of this image is directly the micro-ROS-Agent, so upon execution of docker run you will be facing micro-ROS-Agent command line input.

• e.g. docker run -it --net=host microros/micro-ros-agent udp 9999

Will start micro-ROS-Agent listening UDP messages on port 9999

⁠micro-ros-demos

micro-ros-demos is one of the example images. With this image, you can launch example applications using micro-ROS (Compiled for Linux boxes) This image entry point has a ROS 2 environment set up with micro-ROS examples. You can run regular ros2 tool to launch the examples.

• eg: docker run -it --net=hot microros/micro-ros-demos ros2

The currently avaiable examples are:

• complex_msg_publisher_c & complex_msg_publisher_cpp
• complex_msg_subscriber_c & complex_msg_subscriber_cpp
• int32_publisher_c & int32_publisher_cpp
• int32_subscriber_c & int32_subscriber_cpp
• string_publisher_c & string_publisher_cpp
• string_subscriber_c & string_subscriber_cpp
• rad0_actuator_c, rad0_altitude_sensor_c, rad0_control_cpp & rad0_display_c

⁠micro-ros-olimex-nuttx

This image provides you with a ready-to-flash firmware for Olimex-stm32-e407 with demos embedded on it. To flash your device you need to map your host machine devices to the Docker container

• e.g. docker run -it --privileged -v /dev/bus/usb:/dev/bus/usb microros/micro-ros-olimex-nuttx:dashing

Once inside the container you can flash the board runing scripts/flash.sh from firmware/NuttX directory.

There you can find a publisher and a subscriber examples. Both examples use serial transport to communicate with a micro-ROS-Agent, so you should start one with the same transport (You can use the micro-ros-agent imagen to do so). Once a client-agent communication is stablished you can use ros2 tools to view the publications from the Olimex or to publish messages to it.

⁠Automated builds

These Docker files are used for automatically create images on Docker Hub. These builds are tagged with the ROS 2 version they will be compatible with: e.g. crystal, dashing... The latest tag will always be the latest release of ROS 2.

These automatic builds has direct relationship with the content of the micro-ROS repositories:

Apart from GitHub repositories changes, a build could be triggered whenever the base image is updated on Docker Hub. Base images are specified in the FROM: directive in the Dockerfile.