IARC7 ROS Docker Configurator

This repository is part of the Pitt RAS effort for IARC Mission 7. For an overview of the IARC competition as well as the team's efforts and technical approaches, check out our team website, and in particular the technical postmortem post for the project.

Run ROS Kinetic / Ubuntu Xenial within Docker on any platform with a shared username, home directory, and X11.

This enables you to build and run a persistent ROS Kinetic workspace as long as you can run Docker images.

For more info on Docker see here: https://docs.docker.com/engine/installation/linux/ubuntulinux/

Prerequisites

This script uses the IARC7 ROS image from amiller27/iarc7-base. If you don't have docker, be sure to install it in the way that your system allows. Check out the docs here: https://docs.docker.com/engine/installation/

Docker initially needs to run as root, if you are not added to the docker group Run the following to add your user to the docker group

# usermod -a -G docker $USER

Then either logout and log back in, or run

# newgrp docker

This adds your user to the docker group for your current shell (You need to do this for every new terminal emulator unitl you reboot or logout)

Pull base image

Pull the base iarc7 image from Docker Hub into your system.

# docker pull amiller27/iarc7-base

Build

This will create the image with your user/group ID and home directory.

./build.sh iarc7-yourusername

Create

Next you need to create a container from the image. The image shares it's network interface with the host.

./create.sh iarc7-yourusername iarc7_yourusername_month_date_year

Run

To start the container run:

docker start iarc7_yourusername_month_date_year

To open a shell inside the container use:

docker exec -it iarc7_yourusername_month_date_year /bin/bash

You probably want to add the below lines to your .bashrc to make it easer to get into your iarc7 container. The aliases allow you to automatically enter the docker container (it will be started if it isn't already running). You can also stop the docker container.

iarc7_name="iarc7_yourusername_month_date_year"

alias iarc7='[[ $(docker ps -f "name=$iarc7_name" --format '{{.Names}}') == $iarc7_name ]] || docker start $iarc7_name && \
             docker exec -it $iarc7_name /bin/bash'
alias iarc7_stop='docker stop $iarc7_name'

At this point you should following the instructions in iarc7_common for setting up a workspace: https://github.com/Pitt-RAS/iarc7_common/wiki/Installation

FAQ

Q: I can't run any ROS commands (rosrun, roslaunch, catkin make)

A: Run

source ~/iarc7/devel/setup.bash

After you have the ~/iarc7 directory set up.

Q: Why is only ~/iarc7 mounted in the image? I want my whole home directory mounted!

A: We only mount ~/iarc7 to better seperate the user's $HOME and the image's $HOME If you want to mount your whole home directory, edit create.sh

-v $HOME/iarc7:$HOME/iarc7 \

to

 -v $HOME/:$HOME/\