DockerROS - rosmed/rosmed.github.io GitHub Wiki

A Docker image for the ISMR Workshop tutorial was set up as follows.

Docker Image

The base Docker image (vnc-ros-kinetic-full) developed by Christian Henkel was derived from a Docker Hub repository. This Docker image comes with:

  • Ubuntu 16.04
  • ROS Kinetic
  • HTML5 VNC Server

Our Docker image contains the following additional packages:

  • ROS-Industrial
  • ROS Universal Robot package
  • ROS MoveIt! package
  • OpenIGTLink
  • ROS-IGTL-Bridge

Our Dockerfile is available at GitHub and its image is distributed at Docker Hub.

Building Docker Image (Not needed)

To build a Docker image using a modified Dockerfile, run the following command:

$ cd <working directory>
$ git clone https://github.com/rosmed/docker-ros-igtl
$ cd docker-ros-igtl
$ docker build -t docker-ros-igtl .

Running Docker image

To execute the docker image, call the following command:

$ docker pull docker pull rosmed/docker-ros-igtl
$ docker run -it --rm -p 6080:80 rosmed/docker-ros-igtl

In this example, the web port on the docker container will be mapped to port 6080 on the host computer. The '--rm' option will remove the container upon termination.