ROS Workspace with Docker

This repository provides a Docker-based workspace for ROS development. The Dockerfile creates a support container for ROS Noetic, along with a container that includes essential tools and libraries.

Features

• Supports both ROS 1 and ROS 2 (configurable in Dockerfile and build.bash).
• Provides a pre-configured development environment with essential packages and tools.
• Allows sharing the entire directory within the container.

Included Packages & Tools

The Dockerfile installs the following dependencies:

• NVIDIA Driver
• General Development Tools:
  • ash-completion
  • build-essential
  • git
  • gedit
  • sudo
  • wget
• ROS Noetic Packages:
  • python3-catkin-tools
  • python3-osrf-pycommon
  • ros-noetic-moveit
  • ros-noetic-gazebo-ros
  • ros-noetic-gazebo-ros-control
  • ros-noetic-gazebo-ros-pkgs
  • ros-noetic-gazebo-plugins

Project Structure

ros_franka/
├── docker/
│   ├── Dockerfile       # Defines the Docker container
│   ├── build.bash       # Script to build the Docker image
│   ├── run.bash         # Script to run the container
├── src/
│   ├── franka_ros/      # Franka ROS package
│   ├── panda_moveit_config/  # MoveIt! configuration for Panda

Usage

Clone the repository

git clone https://github.com/your-username/ros_franka.git ~/Desktop/ros_franka

Build the Docker Image

cd ~/Desktop/ros_franka
./docker/build.bash

The image name can be changed inside build.bash.

Run the Container

cd ~/Desktop/ros_franka
./docker/run.bash

The container will share the entire ros_franka directory for development.

Customization

• ROS Version & Distribution: Modify Dockerfile and build.bash.
• Docker Image Name: Change in build.bash and run.bash.