ROS Indigo Docker Packages

Docker Image wrappers and config scripts for various ROS (Robot Operating System) Indigo packages I have needed for my projects. I tried to keep with Docker's simple-purpose image/container philosophy. As such, you will need to use Docker's experimental networking to have the various containers play nicely together (more below).

Use with Docker Compose

A sample Docker Compose file is included to show you how to launch each package, including a rosmaster image for running the roscore node.

Be sure you are running Docker Compose with Experimental Networking enabled. (For more information see my post: Docker Experimental Networking and ROS):

docker-compose --x-networking up -d

Working Packages

• ROS Master -- Simple laucch script around ROS's official roscore Docker Image.
• ROS Tutorials -- Full tutorials are installed, Docker Compose only runs talker/listener
• ROS Image View -- Full image-pipeline is installed, Docker Compose only launches image_view
• ROS Leap Motion -- Finger and hand tracking in ROS with the Leap Motion
• ROS USB Camera -- USB webcam image stream for ROS using libuvc_camera (More info)
• ROS KINECT -- Kinect (v1) sensor using the libfreenect package. Also includes openni packages.
• ROS RViz -- RViz 3D visualization tool for ROS

Notes

• IMPORTANT: If you are using Image View, RVIZ or other packages that have graphic displays be sure to set xhost + on the host machine to authorize a connection to the X host. Also be sure to set the correct uid and gid to your user in the Dockerfile.
• I am working on making each package available on Docker Hub as an automated build. If one is missing because I haven't added it yet, use the build: ros-package-name/. in the docker-compose.yml to build it.
• I made these Docker Images as a fast way to spin-up ROS for my own projects. As such, things are likely to change a lot. I recommend forking the code for your own use.
• I am running these under Linux. They should work just fine under OSX using Docker-Machine and XQuartz with some minor debugging. I don't know enough about Docker under Windows to know how well it will work.
• I'd love recommendations for updates and improvements/additional ROS packages as pull-requests.

Cheers,

• Todd