rgruberski/ros2-ubuntu-web-vnc repository overview

⁠Introduction

This repository contains images to run a complete ROS2 graphical environment without any dependencies on a host system. The graphical desktop interface is available through a web browser.

This is an early-stage project that needs many improvements. I will try to add new features and enhancements successively if there is any interest.

The project aims to use it locally as a development or educational environment. It shouldn't be used publicly because it does not contain security-related features.

⁠Operating systems

The images are compatible with multiple operating systems. The current state is:

• Linux (tested on multiple distributions)
• Windows 10/11 (tested with Docker Desktop with WSL)
• MacOS (works with OrbStack⁠)

I am working on making it possible to run the images on MacOS with the original Docker Desktop, but I have had no success so far.

⁠Tags

• ROS2 Humble without any additional code, with empty workspace (humble/latest)
• ROS2 Humble with Unitree Go2 robot simulation (humble-go2) [source: https://github.com/anujjain-dev/unitree-go2-ros2⁠

The ROS2 Jazzy version will be available soon.

⁠Quick Start

The default password for the web VNC is 1234. I know it's not very secure, so I recommend changing it as soon as possible and using it locally only.

Please use the following command to start an empty ROS2 Humble desktop environment (detached).

foo@bar:~$ docker run --name ros2-humble-vnc -p 8080:8080 -p 5900:5900 -d rgruberski/ros2-ubuntu-web-vnc:humble

If you want to run the Unitree Go2 robot simulation, please use the following command.

foo@bar:~$ docker run --name ros2-humble-vnc -p 8080:8080 -p 5900:5900 -d rgruberski/ros2-ubuntu-web-vnc:humble-go

After a few seconds, your graphical interface will be available in your web browser with the link: http://127.0.0.1:8080⁠

⁠Contact

https://github.com/rgruberski⁠
https://www.linkedin.com/in/rgruberski/⁠