Docker Image for MAS @work

This repository contains the dockerfile to build the docker image for MAS industrial robotics build environment. The docker image provides an Ubuntu 16.04 based ROS-Kinetic environment with all the necessary ros packages and dependencies already installed. Hence, it is sufficient to clone the MAS industrial robotics repository and perform a hassle free catkin build.
Note : This image can also be used for building and testing any ROS Kinetic package

Advantages of using this image over a local build:

• All necessary ROS dependencies and packages come bundled with the image
• Containers can easily be started by using docker compose
• Hassle free catkin build without any environment issues
• No user rights issues when creating/cloning folders from within the container
• ROS nodes and ROS master can be launched from within the container and can also communicate with nodes/clients running outside the container, on the local Ubuntu machine
• Supports GUI rendering for gazebo and rviz
• Source code for the ROS packages is stored locally and is only volume mounted in the container

Using the Image from Docker Hub

• To use the image, first ensure docker engine and docker compose is installed on your machine. If not follow the intructions on the official docker website.
• Download the sample docker-compose.yml file from this repository and modify the following based on your requirements:
  • Change /home/iswariya/Documents/Robocup to the folder where you have cloned the MAS industrial robotics repository or where you want your catkin workspace to be created
  • Modify the nvidia-390 with the version of nvidia driver installed in your system
  • $HOME/.rviz:/home/kinetic_user/.rviz is optional. Favorite Rviz configurations which are stored in your local file system will be mounted onto your docker container
• Then run the following command from the folder containing the docker-compose.yml file. This spins up a container based on the iswariyam/mas_industrial_robotics:kinetic image

docker-compose up

Note: The very first time you run this command, the latest image will be pulled from docker-hub

• To run commands inside the container open multiple bash sessions using

docker exec -it <container name> bash

This allows from launching different ROS nodes from different bash terminals of the same container

• To stop and remove the container, use

docker-compose down

Manually building the image

• It is also possible to locally build the image using the dockerfile in this repository. To build the image use the following command

docker build --build-arg UID=$(id -u) --build-arg GID=$(id -g) --build-arg UNAME=$USER -t <image name> .

• The locally built image can then used along with the existing docker-compose file by modifying the image name from iswariyam/mas_industrial_robotics:latest to <image name> and following the previously mentioned instructions.