To spin up the development environment:
docker compose upThe noVNC GUI is available at http://localhost:8080/vnc.html
To to freshly build the docker image change from:
image: ghcr.io/davidelanz/ros1_tiago_dockerto:
build: dockerfile: ./Dockerfileand use:
docker compose up --build
To launch a .launch file, e.g. tiago_dual_gazebo:
docker exec -it ros1_tiago_docker-catkin_ws-1 bash -c '\
source /opt/ros/melodic/setup.bash \
&& source /root/catkin_ws/devel/setup.bash \
&& roslaunch \
tiago_dual_gazebo \
tiago_dual_gazebo.launch \
public_sim:=true \
end_effector_left:=pal-gripper \
end_effector_right:=pal-gripper \
world:=tutorial_office \
gzpose:="-x 1.40 -y -2.79 -z -0.003 -R 0.0 -P 0.0 -Y 0.0" \
use_moveit_camera:=true'To launch rviz:
docker exec -it ros1_tiago_docker-catkin_ws-1 '\
source /opt/ros/melodic/setup.bash \
&& source /root/catkin_ws/devel/setup.bash \
&& rosrun rviz rviz'To launch rqt_graph:
docker exec -it ros1_tiago_docker-catkin_ws-1 '\
source /opt/ros/melodic/setup.bash \
&& source /root/catkin_ws/devel/setup.bash \
&& rosrun rqt_graph rqt_graph'To add a new package, add the respective volume in the docker-compose.yml file:
volumes:
- /path/to/<package_name>:/root/catkin_ws/src/<package_name>