Docker Images for ROS Development

This repository provides Docker images designed to simplify ROS 2 and ROS 1 development. These images come pre-configured with the necessary ROS packages and tools, allowing you to get started with your robotics projects quickly and efficiently.

Available Images

The following Docker images are available:

• humble: Based on ubuntu:jammy, this image includes ROS 2 Humble Hawksbill packages and a non-root user for enhanced security.
• humble-garden: Extends the humble image and includes Gazebo Garden, a powerful 3D robotics simulator.
• humble-fortress: Extends the humble image and includes Gazebo Fortress, which is the LTS and default sim for humble.
• humble-harmonic: Extends the humble image and includes Gazebo Harmonic, which works better with humble related deps. Hence this is Recommended.
• iron: Based on ubuntu:jammy, this image includes ROS 2 Iron Irwini packages and a non-root user.
• iron-garden: Extends the iron image and includes Gazebo Garden.
• noetic: Based on ubuntu:focal, this image includes ROS Noetic Ninjemys packages and a non-root user.

Important Note: The iron and iron-garden images are currently under development and have not been heavily tested. They may be unstable or contain significant bugs.

Usage

1. Pulling an Image

To download a pre-built image from GitHub Container Registry (ghcr.io), use the following command:

docker pull ghcr.io/soham2560/<image_name>:latest

Replace <image_name> with the desired image name (e.g., humble, humble-garden, iron, iron-garden). For example:

docker pull ghcr.io/soham2560/humble-garden:latest

2. Building an Image (Optional)

If you prefer to build the image locally from the Dockerfile, clone this repository and navigate to the root directory. Then, use the following command:

docker build -t ghcr.io/soham2560/<image_name> -f <image_name>/Dockerfile <image_name>

Again, replace <image_name> with the appropriate image name. For example, to build the humble-garden image:

docker build -t ghcr.io/soham2560/humble-garden -f humble-garden/Dockerfile humble-garden

Explanation of the docker build command:

• docker build: The command to build a Docker image.
• -t ghcr.io/soham2560/<image_name>: Tags the image with the specified name and registry path.
• -f <image_name>/Dockerfile: Specifies the path to the Dockerfile to use for building the image.
• <image_name>: The build context, which is the directory containing the Dockerfile and any other files needed for the build.

3. Pushing an Image (For Contributors)

If you have made changes to the Dockerfile and want to contribute by pushing the updated image to the registry, use the following command:

docker push ghcr.io/soham2560/<image_name>:latest

Note: You need to be authenticated with ghcr.io and have the appropriate permissions to push images to the soham2560 repository.

Usage Examples

The following repositories demonstrate how to use these Docker images in real-world ROS 2 projects with Dev Containers. Each repository includes a .devcontainer folder for easy setup.

• LiDAR_Camera_Calibration: Demonstrates LiDAR-Camera calibration in ROS 2 using the humble image within a Dev Container.

• 6DOF_ObjectFollowing: Implements a 6-DOF object following system using ROS 2 and the humble-garden image within a Dev Container.

• ros2_tutorial_repo: A basic ROS 2 tutorial repository demonstrating fundamental concepts, configured with the humble image within a Dev Container.

• Husky Mobile robot: Basic ROS Noetic packages for running the Husky mobile robot on AMD64/x86 device.

• P3DX Mobile robot: Basic ROS Noetic packages for running the P3DX mobile robot on AMD64/x86 device.

Contributing

Contributions to this project are welcome! If you have improvements or suggestions, please submit a pull request.

Acknowledgements

This work is inspired by the work of rahulkatiyar19955. Check out his profile for more interesting and cool robotics projects.

Please consider giving appropriate credit when using these images in your work.