ELE207 ROS2 (Foxy) Docker Container

A ROS2 Foxy Docker container for mobile robotics labs in ELE207.

Setup Process

• Install [Docker Desktop] (https://docs.docker.com/desktop/). Alternatively if you are using Linux you can only instal Docker Engine as well.
• Clone this repository, and in a terminal window navigate to it using the cd PATH command. Note: PATH has to be replaced with an actual path, e.g. cd C:\Users\max\Desktop\ele207_ros2_docker.
• Build the docker image: docker build -t ele207/ros2_env .

Usage Instructions

• Run the docker container: docker run -it --net=host --rm --name ele207_ros2_container ele207/ros2_env Note: This will automatically also start the rosboard node to visualize topics. The rosboard can be accessed in a browser window under the following URL: http://localhost:8888/
• Opening a terminal window in the docker container: docker exec -it ele207_ros2_container bash

Changing ROS_DOMAIN_ID

To change the ROS_DOMAIN_ID modify line 32 in the Dockerfile file. Afterwards you have to rebuild the docker image as described in Setup Process.

Running Braitenberg Vehicle Controller

1. SSH into the turtlebot and run ros2 launch turtlebot3_manipulation_bringup hardware.launch.py.
2. Open a terminal window and run docker run -it --net=host --rm --name ele207_ros2_container ele207/ros2_env
3. Open another terminal window and run docker exec -it ele207_ros2_container bash. This will give you access to the terminal inside the Docker container. In the same terminal window run ros2 run braitenberg_vehicle controller

Modifying Controller Code

1. Ctrl+C the terminal window that is running the controller.
2. Use the vscode Container extention to modify the controller file located in ele207/ros2_env/Files/root/ros2_ws/src/braitenberg_vehicle/braitenberg_vehicle/controller.py. After modification save the file with Ctrl+S.
3. Run the controller using the ros2 run braitenberg_vehicle controller command.