ros2-images

This Docker image provides a consistent ROS 2 (Humble) environment with pre-installed dependencies for developing and running ROS 2 applications, including the Franka Emika FR3 robot. It supports NVIDIA GPU acceleration for better performance with visualization tools like RViz.

The Docker image can be found here (tagged franka).

Requirements

• Docker installed on your local machine.

  • Install on Ubuntu:

    sudo apt update && sudo apt install docker.io

• NVIDIA Container Toolkit for GPU support (optional, but recommended for visualization with RViz).

  • Install NVIDIA drivers and Container Toolkit:

    distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
    curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -
    curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
    sudo apt update
    sudo apt install -y nvidia-docker2
    sudo systemctl restart docker

• Docker Image:

  • Pull the Docker image:

    docker pull ghcr.io/mistry-lab/ros2-images:franka

Running the Docker Container with NVIDIA GPU

If you have an NVIDIA GPU, you can run the container with GPU support for better performance in visualization tools like RViz:

docker run -it --gpus all --env="DISPLAY" --volume="$HOME/.Xauthority:/root/.Xauthority:rw" --volume="/tmp/.X11-unix:/tmp/.X11-unix" --net=host ghcr.io/mistry-lab/ros2-images:franka

• --gpus all: Enables GPU access for the container.
• --net=host: Ensures the container can access ROS topics and services on your local network.

Running the Docker Container Ignoring NVIDIA errors

You can also ignore the the gl errors and simply run bash xhost +local:docker docker run -it --network host \ -e DISPLAY=$DISPLAY \ -v /tmp/.X11-unix:/tmp/.X11-unix \ my_franka_ros2_image

Running RViz Locally

If you prefer running RViz locally, you can:

1. Run the container without GPU:

   docker run -it --network host ghcr.io/mistry-lab/ros2-images:frnaka

2. Run RViz on your local machine:

   source /opt/ros/humble/setup.bash
   rviz2

Using the Franka Emika FR3 Robot (with Fake Hardware) inside the container

You can test the FR3 robot setup with fake hardware for simulation.

1. Launch the MoveIt configuration with fake hardware:

   source /root/franka_ros2_ws/install/setup.bash
   ros2 launch franka_fr3_moveit_config moveit.launch.py robot_ip:=dont-care use_fake_hardware:=true

2. Visualize and control the FR3 robot using MoveIt and RViz.

Developing with the Docker Image

1. Clone Your Repository:

   git clone https://github.com/your_org/your_repo.git
   cd your_repo

2. Run the Docker Container: Mount your local code into the container:

   docker run -it -v $(pwd):/root/my_code ghcr.io/mistry-lab/ros2-images:frnaka

   • Your local directory $(pwd) will be mounted to /root/my_code in the container.

Exiting the Container

Simply type exit or press Ctrl+D to exit the Docker container.