robinlabuji / docker4turtlebot

docker4turtlebot

Copy the rule into /etc/udev/rules.d and run the command:

  sudo udevadm trigger --action=change

Networking containers in a single host

Create a docker network:

docker network create rosnet

Launch the TurtleBot server:

docker run --rm -it --net=rosnet --name turtlebot \
  --env ROS_HOSTNAME=turtlebot \
  --env ROS_MASTER_URI=http://turtlebot:11311 \
  --env TURTLEBOT_BATTERY=None \
  --device=/dev/kobuki:/dev/kobuki \
  robinlab/turtlebot:kinetic roslaunch turtlebot_bringup minimal.launch

Launch the TurtleBot teleoperation client:

docker run --rm -it --net=rosnet --name client \
  --env ROS_HOSTNAME=client \
  --env ROS_MASTER_URI=http://turtlebot:11311 \
  robinlab/turtlebot:kinetic roslaunch turtlebot_teleop keyboard_teleop.launch

Networking containers across multiple hosts (in the same network)

Based on the Docker docs.

1. In external PC

docker swarm init

(keep the token step 2)

2. In TurtleBot

docker swarm join --token <TOKEN> <IP-ADDRESS-OF-MANAGER>:2377

3. In external PC

docker network create -d overlay --attachable rosnet

4. In TurtleBot

docker run --rm -it --net=rosnet --name turtlebot \
  --env ROS_HOSTNAME=turtlebot \
  --env ROS_MASTER_URI=http://turtlebot:11311 \
  --env TURTLEBOT_BATTERY=None \
  --device=/dev/kobuki:/dev/kobuki \
  robinlab/turtlebot:kinetic roslaunch turtlebot_bringup minimal.launch

5. In external PC

docker run --rm -it --net=rosnet --name client \
  --env ROS_HOSTNAME=client \
  --env ROS_MASTER_URI=http://turtlebot:11311 \
  robinlab/turtlebot:kinetic roslaunch turtlebot_teleop keyboard_teleop.launch