Getting started with ROS and Docker

## Synopsis - Pulling ROS Images - Running ROS containers - Start multiple terminals on the same container - Start multiple terminals on different containers ## Pulling ROS Images ```sh sudo docker pull ros:kinetic-ros-core [sudo] password for yubao: kinetic-ros-core: Pulling from library/ros e92ed755c008: Downloading 33.31MB/44.25MB b9fd7cb1ff8f: Download complete ee690f2d57a1: Download complete 53e3366ec435: Download complete d9bc5fb3503c: Download complete 610e21ec5cdf: Download complete 80d26f628f67: Download complete c7737f190310: Downloading 27.96MB/54.79MB 1ec575ad7946: Download complete da84296616d7: Downloading 21.47MB/193.6MB ``` Check it: ``sudo docker images`` ## Running ROS containers ```sh sudo docker run -it ros:kinetic-ros-core ``` ```sh sudo docker ps -l CONTAINER ID IMAGE COMMAND CREATED STATUS PORTS NAMES bd5b3e50be78 ros:kinetic-ros-core "/ros_entrypoint.sh …" 2 minutes ago Up 2 minutes zealous_gould ``` Run roscore on it: ```sh root@bd5b3e50be78:/# roscore ... logging to /root/.ros/log/3f633070-903b-11ea-a815-0242ac110002/roslaunch-bd5b3e50be78-37.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://bd5b3e50be78:46649/ ros_comm version 1.12.14 SUMMARY ======== PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.14 NODES auto-starting new master process[master]: started with pid [47] ROS_MASTER_URI=http://bd5b3e50be78:11311/ setting /run_id to 3f633070-903b-11ea-a815-0242ac110002 process[rosout-1]: started with pid [60] started core service [/rosout] ``` ## Start multiple terminals on the same container ```sh sudo docker exec -it zealous_gould bash ``` ```sh root@bd5b3e50be78:/# source /opt/ros/kinetic/setup.bash root@bd5b3e50be78:/# rostopic list /rosout /rosout_agg ``` ## Start multiple terminals on different containers ```sh sudo docker run -it ros:kinetic-ros-core bash ``` ## References - [docker/Tutorials/Docker](http://wiki.ros.org/action/fullsearch/docker/Tutorials/Docker?action=fullsearch&context=180&value=linkto%3A"docker%2FTutorials%2FDocker")