Overview

Docker container scripts for ROS2 development.

Contents of Docker image:

• Ubuntu 24.04 (Noble)
• ROS2 (Jazzy)
• Gazebo (Harmonic)

Additional content:

• MoveIt2
  • built from source, for moveit_py package
• ASL Controller
  • https://github.com/AlbertaBeef/asl_mediapipe_pointnet
• MyCobot-280 simulation
  • https://github.com/automaticaddison/mycobot_ros2 (branch=jazzy)
  • https://github.com/moveit/moveit_task_constructor (branch=jazzy)
  • https://github.com/moveit/warehouse_ros_mongo (branch=ros2)
• Yahboom ROSMASTER-X3 simulation
  • https://github.com/automaticaddison/yahboom_rosmaster
• MOGI-ROS simulation
  • https://github.com/MOGI-ROS/mogi_trajectory_server
  • https://github.com/MOGI-ROS/Week-3-4-Gazebo-basics
  • https://github.com/MOGI-ROS/Week-5-6-Gazebo-sensors
  • https://github.com/MOGI-ROS/Week-7-8-ROS2-Navigation
  • https://github.com/MOGI-ROS/Week-9-10-Simple-arm

Cloning the repo

The repo must be cloned with git:

• git clone https://github.com/AlbertaBeef/robotics_docker
• cd robotics_docker

Building the Docker image

The pre-built Docker image can be accessed on Docker Hub:

• https://hub.docker.com/repository/docker/albertabeef/robotics_docker

If you prefer to build the Docker image locally,

Start by downloading the following archive to the "robotics_docker" directory:

• gazebo_models.zip Google Drive

Then launch the Docker build script as follows:

• cd robotics_docker/docker
• source ./build.sh

Launching the Docker image

If not done so already, build Docker image, or download the image from Docker Hub:

• docker pull albertabeef/robotics_docker:latest

Create a directory for shared content, and indicate its location in the following file:

• robotics_docker/compose/docker-compose.yml

Launch Docker image using compose functionnality:

• cd robotics_docker/compose
• docker compose up -d robotics_demo

Making the local host's GUI available to the Docker image:

• xhost +
• docker compose exec robotics_demo bash

Running the ASL-controlled Turtlesim demo

Launch the asl_controller_twist node with usbcam_publisher and turtlesim nodes:

• ros2 launch asl_mediapipe_pointnet demo01_turtlesim_asl_part1.launch.py | ros2 launch asl_mediapipe_pointnet demo01_turtlesim_asl_part2.launch.py

Launch the hand_controller_asl_twist node with usbcam_publisher and turtlesim nodes:

• ros2 launch hand_controller demo01_turtlesim_part1_asl.launch.py | ros2 launch hand_controller demo01_turtlesim_part2.launch.py

Control Turtle with Hand Signs

• A : Advance
• B : Backup
• L : Turn Left
• R : Turn Right

Running the ASL-controlled MOGI-ROS wheeled vehicle demo

Launch the asl_controller_twist node with the MOGI-ROS wheeled vehicle:

• ros2 launch asl_mediapipe_pointnet demo11_mogiros_car_part1_asl.launch.py | ros2 launch asl_mediapipe_pointnet demo11_mogiros_car_part2.launch.py

Launch the hand_controller_asl_twist node with the MOGI-ROS wheeled vehicle:

• ros2 launch hand_controller demo11_mogiros_car_part1_asl.launch.py | ros2 launch hand_controller demo11_mogiros_car_part2.launch.py

Control Vehicle with Hand Signs

• A : Advance
• B : Backup
• L : Turn Left
• R : Turn Right

Running the ASL-controlled Yahboom ROSMASTER-X3 demo

Launch the asl_controller_twist node with ROSMASTER-X3 vehicle:

• ros2 launch asl_mediapipe_pointnet demo12_rosmaster_part1_asl.launch.py | ros2 launch asl_mediapipe_pointnet demo12_rosmaster_part2.launch.py

Launch the hand_controller_asl_twist node with ROSMASTER-X3 vehicle:

• ros2 launch hand_controller demo12_rosmaster_part1_asl.launch.py | ros2 launch hand_controller demo12_rosmaster_part2.launch.py

Control Vehicle with Hand Signs

• A : Advance
• B : Backup
• L : Turn Left
• R : Turn Right

Running the ASL-controlled MOGI-ROS robotic arm demo

Launch the asl_controller_pose node with MOGI-ROS simple robotic arm:

• ros2 launch asl_mediapipe_pointnet demo21_mogiros_arm_part1_asl.launch.py | ros2 launch asl_mediapipe_pointnet demo21_mogiros_arm_part2.launch.py

Launch the hand_controller_asl_pose node with MOGI-ROS simple robotic arm:

• ros2 launch hand_controller demo21_mogiros_arm_part1_asl.launch.py | ros2 launch hand_controller demo21_mogiros_arm_part2.launch.py

Control Robotic Arm with Left/Right Hands:

• Left Hand

  • L : Turn Arm Left
  • R : Turn Arm Right
  • A : Advance Arm (shoulder joint)
  • B : Backup Arm (shoulder joint)
  • U : Lift Arm (elbow joint)
  • Y : Lower Arm (elbow joint)

• Right Hand

  • A : Close Gripper
  • B : Open Gripper

Running the ASL-controlled MYCOBOT-280 robotic arm demo

Launch the asl_controller_pose node with MYCOBOT-280 robotic arm:

• moveit &
• ros2 launch asl_mediapipe_pointnet demo31_mycobot_part1_asl.launch.py | ros2 launch hand_controller demo31_mycobot_part2.launch.py

Launch the hand_controller_asl_pose node with MYCOBOT-280 robotic arm:

• moveit &
• ros2 launch hand_controller demo31_mycobot_part1_asl.launch.py | ros2 launch hand_controller demo31_mycobot_part2.launch.py

Control Robotic Arm with Hand Signs

• L : Move Left
• R : Move Right
• A : Move Forward
• B : Move Backward
• U : Move Up
• Y : Move Down

References

The Complete Guide to Docker for ROS 2 Jazzy Projects

• https://automaticaddison.com/the-complete-guide-to-docker-for-ros-2-jazzy-projects/

Automatic Addison on-line Tutorials:

• https://automaticaddison.com/tutorials
• https://github.com/automaticaddison/mycobot_ros2 (branch=jazzy)
• https://github.com/automaticaddison/yahboom_rosmaster

MOGI-ROS on-line Tutorials:

• https://github.com/MOGI-ROS/Week-1-2-Introduction-to-ROS2
• https://github.com/MOGI-ROS/Week-3-4-Gazebo-basics
• https://github.com/MOGI-ROS/Week-5-6-Gazebo-sensors
• https://github.com/MOGI-ROS/Week-7-8-ROS2-Navigation
• https://github.com/MOGI-ROS/Week-9-10-Simple-arm

Accelerating MediaPipe:

• Hackster Series Part 1 Blazing Fast Models
• Hackster Series Part 2 Insightful Datasets for ASL recognition
• Hackster Series Part 3 Accelerating the MediaPipe models with Vitis-AI 3.5
• Hackster Series Part 4 Accelerating the MediaPipe models with Hailo-8
• Hackster Series Part 5 Accelerating the MediaPipe models on RPI5 AI Kit
• Hackster Series Part 6 Accelerating the MediaPipe models with MemryX
• Blaze Utility (python version) : blaze_app_python
• Blaze Utility (C++ version) : blaze_app_cpp

ASL Recognition using PointNet (by Edward Roe):

• Medium Article ASL Recognition using PointNet and MediaPipe
• Kaggle Dataset American Sign Language Dataset
• GitHub Source pointnet_hands