🐳 Docker

For this project, we are making use of Docker Compose to ease the build and start of containers. The docker-compose.yml file is composed of services, where each service is targeted for each robot platform.

This project uses Docker Compose to simplify building and running containers for different robot platforms.

The main configuration file is docker-compose.yml, which defines a separate service for each supported robot platform.

Note

Currently, only the Tello and Spot robot platforms are supported.

🚀 Getting Started

Important

If you want to use GUI applications inside Docker (e.g., visual tools like RViz), run the following command once before starting any containers:

xhost +local:docker

Using Docker Compose (Recommended)

Info

Note that you will need to have docker-compose installed on your system.

You can check with if it is installed with:

docker-compose -v

On Ubuntu, install it using:

sudo apt install docker-compose

Steps:

Open a terminal and navigate to the root directory of the project.
Run the following command :
```
docker compose up <robot_platform>_suite
```
Don't forget to replace <robot_platform> with the desired platform !

Available Platforms

Currently, dedicated Docker services (and corresponding containers) are available only for tello and spot.

tello:
```
docker compose up tello_suite
```
spot:
```
docker compose up spot_suite
```
This should automatically start a container and launch the driver, plugins and behaviour tree for the corresponding robot platform.

Manual Docker Usage (Advanced)

If you prefer not to use Docker Compose, you can build and run the containers manually.

Each robot platform has its own Dockerfile located at:
docker/<robot_platform>/Dockerfile

Tip

Do not forget to replace <robot_platform> with one of the supported platforms:

tello
spot

Steps:

Go to the root of the project.
Build the Docker image:

docker build -t <robot_platform>_suite -f docker/<robot_platform>/Dockerfile .

Run the container and launch the robot system (recommended):

docker run --rm -it \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    -v /dev/dri:/dev/dri \
    -e DISPLAY=$DISPLAY \
    -e LIBGL_ALWAYS_SOFTWARE=1 \
    --device /dev/snd:/dev/snd \
    --net=host \
    <robot_platform>_suite \
    ros2 launch robot_bringup <robot_platform>_launch.py

Or start the container with a terminal session:

docker run --rm -it \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    -v /dev/dri:/dev/dri \
    -e DISPLAY=$DISPLAY \
    -e LIBGL_ALWAYS_SOFTWARE=1 \
    --device /dev/snd:/dev/snd \
    --net=host \
    <robot_platform>_suite \

Example for Tello Platform

# Step 1: Build the Docker image
docker build -t tello_suite -f docker/tello/Dockerfile .

# Step 2: Enable GUI support
xhost +local:docker

# Step 3: Launch the system inside the container
docker run --rm -it \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    -v /dev/dri:/dev/dri \
    -e DISPLAY=$DISPLAY \
    -e LIBGL_ALWAYS_SOFTWARE=1 \
    --device /dev/snd:/dev/snd \
    --net=host \
    tello_suite \
    ros2 launch robot_bringup tello_launch.py