Docker AWS¶

Demo #1 - Run front-end on in gazebo host and back-end in docker¶

Setup workspace¶

Front-end (run on host and only contains gui)¶

in terminal 1

mkdir -p ./training/front_ws/src
cd ./training/front_ws/src
gazebo -v
git clone -b gazebo7 https://github.com/fetchrobotics/fetch_gazebo.git
git clone https://github.com/fetchrobotics/robot_controllers.git
git clone https://github.com/fetchrobotics/fetch_ros.git
cd ..
catkin build fetch_gazebo fetch_description

Back-end (run in container)¶

In this step, we will create a docker image that has the executables we need:

run /bin/bash in the rosindustrial/core:indigo image then apt-get the package, commiting the result.
run /bin/bash in the rosindustrial/core:indigo image then build the package from source, commiting the result.
create a docker container using the fetch Dockerfile, which we will perform. https://gist.github.com/AustinDeric/242c1edf1c934406f59dfd078a0ce7fa

cd ../fetch-Dockerfile/
docker build --network=host -t rosindustrial/fetch:indigo .

Running the Demo¶

Run the front-end¶

Run the front end in terminal 1:

source devel/setup.bash
roslaunch fetch_gazebo playground.launch

Run the backend¶

There are multiple ways to perform this:

run /bin/bash in the fetch container and manually run the demo node.
run the demo node directly in the container, which is the method we will perform Run the back end in terminal 2:

docker run --network=host rosindustrial/fetch:indigo roslaunch fetch_gazebo_demo demo.launch

Demo #2 - Run front-end on a web-server and back-end in docker¶

start the environment

docker run --network=host rosindustrial/fetch:indigo roslaunch fetch_gazebo playground.launch headless:=true gui:=false

run the gazebo web server:

docker run -v "/home/aderic/roscloud/training/front_ws/src/fetch_gazebo/fetch_gazebo/models/test_zone/meshes/:/root/gzweb/http/client/assets/test_zone/meshes/" -v "/home/aderic/roscloud/training/front_ws/src/fetch_ros/fetch_description/meshes:/root/gzweb/http/client/assets/fetch_description/meshes" -it --network=host giodegas/gzweb /bin/bash

then run the server:

/root/gzweb/start_gzweb.sh && gzserver

run the demo in terminal 3:

docker run --network=host fetch roslaunch fetch_gazebo_demo demo.launch

Demo #3 Robot Web Tools¶

In this demo we will run an industrial robot URDF viewable in a browser In terminal 1 we will load a robot to the parameter server

mkdir -p abb_ws/src
git clone -b kinetic-devel https://github.com/ros-industrial/abb.git
docker run -v "/home/aderic/roscloud/training/abb_ws:/abb_ws" --network=host -it rosindustrial/core:kinetic /bin/bash
cd abb_ws
catkin build
source devel/setup.bash
roslaunch abb_irb5400_support load_irb5400.launch

in terminal 2 we will start the robot web tools:

docker run --network=host rosindustrial/viz:kinetic roslaunch viz.launch

in terminal 3 we will launch the webserver first we need to start a www folder

cp -r abb_ws/src/abb/abb_irb5400_support/ www/

docker run -v "/home/aderic/roscloud/training/www:/data/www" -v "/home/aderic/roscloud/training/nginx_conf/:/etc/nginx/local/" -it --network=host rosindustrial/nginx:latest /bin/bash
nginx -c /etc/nginx/local/nginx.conf

Open Source Feedback

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