Dockerfile to provide a ROS2 container with gazebo Fortress and VNC, based on Tiryoh/docker-ros2-desktop-vnc
Run the docker container and access with port 6080.
Change the shm-size value depending on the situation.
NOTE: --security-opt seccomp=unconfined flag is required to launch humble image. See Tiryoh/docker-ros2-desktop-vnc#56.
An example docker-compose.yaml is provided, e.g.
services:
ros-desktop-vnc:
image: sylar/ros2-desktop-vnc:humble
## seccomp profile must be deactivated for Ubuntu 22.04
security_opt:
- seccomp:unconfined
shm_size: '512m'
restart: unless-stopped
container_name: ros2_desktop_vnc
hostname: remotepc
## To solve some issue with VNC
extra_hosts:
- "remotepc:127.0.0.1"
volumes:
- /path/to/your/ws/src:/home/turtle/ros2_ws/src
Browse http://127.0.0.1:6080/.
The image also includes zenoh-bridge-ros2dds. It allows the container to communicate with an external host (e.g. a robot), which is not always possible even in host mode (in particular with a Windows or macos host). Note that zenoh-bridge-ros2dds must also be installed on the robot.
Consider the robot has an IP address 192.168.0.10. On the robot, launch zenoh-bridge-ros2dds. Then you can connect the docker container to the robot trough the zenoh bridge by typing in a terminal inside the container: zenoh-bridge-ros2dds -e tcp/192.168.0.10:7447. Then, both hosts (the robot and the container) will communicate together through the bridge. Note that for that purpose, as indicated in zenoh-bridge-ros2dds documentation, ROS_LOCALHOST_ONLY environment variable has been set to 1 to make sure that NO direct DDS communication can occur between 2 hosts that are bridged by zenoh-bridge-ros2dds. This can be changed in the .bashrc file if needed.
A id_rsa_turtlebot3.pub file has been added to the repository to allow SSH login to some remote robot without having to type in the password. Upload it to the robot in its own .ssh/authorized_keys file. Note that the correspoding private key has been added to the image (in .ssh/id_rsa_turtlebot3), which makes it not that much private, so please use your own key if security is an issue. SSH config file in .ssh/config specifies the key to be used for hosts matching 192.168.* IP addresses: change this setting if the IP address of the robot is not in this network.
To build Docker image from this Dockerfile, run the following command.
- humble
# using "docker buildx (multiarch)"
cd humble && docker buildx build --push --platform=linux/arm64,linux/amd64 --progress=plain -t sylar/ros2-desktop-vnc:humble .humble, which is based onhumble/Dockerfile
- https://github.com/atinfinity/nvidia-egl-desktop-ros2
- Dockerfile to use ROS 2 on Xfce Desktop container with NVIDIA GPU support via VNC/Selkies(Full desktop streaming with WebRTC)
- https://github.com/fcwu/docker-ubuntu-vnc-desktop
- Dockerfile to access Ubuntu Xfce/LXDE/LxQT desktop environment via web VNC interface
- https://github.com/AtsushiSaito/docker-ubuntu-sweb
- Dockerfile to access Ubuntu MATE desktop environment via web VNC interface
This repository is released under the Apache License 2.0, see LICENSE.
Unless attributed otherwise, everything in this repository is under the Apache License 2.0.
- This Dockerfile is based on Tiryoh/docker-ros2-desktop-vnc, licensed under the Apache License 2.0
- This Dockerfile is based on AtsushiSaito/docker-ubuntu-sweb, licensed under the Apache License 2.0.
- This Dockerfile is based on fcwu/ubuntu-desktop-lxde-vnc, licensed under the Apache License 2.0.