ROSMelodicDocker

This repository contains the necessary elements (code and artifacts) to build and run a ROS Melodic container suitable to execute GUI applications in Nvidia and non-Nvidia docker environments. It includes the possibility to run simulations for the TurtleBot 3.

!!! Note: Do not clone this repository into a path containing a space !!!

Prerequisites

• A UNIX-like operating system, preferably Linux.
• An operational docker daemon.
• A terminal with a Nerd Font is highly recommended. (Nerd Font Download page)
• Standard Bash and basic ROS knowledge.
• A Nvidia graphics card capable of running hardware accelerated graphics. Although, any recent AMD or Intel GPU will also work flawlessly.

Screenshots

The end result will be an Ubuntu 18.04 Docker container capable of running ROS Melodic (GUI) systems. A few virtual worlds are also included. The following screenshots depict this perfectly.

The terminal after starting the container.

Running GUI applications, including OpenGL should be possible.

How to build the container

A bash script is provided to build the container, it can be executed by entering the following command:

   $ ./001_build_images.sh

How to start the container

To start the container execute the script below:

   $ ./003_start_pxl_melodic_full_desktop.sh

This script will check the available GPU and start the container accordingly.

To use multiple bash shells in the container, It's advised to either work with tmux or execute the script with prefix 005 from the host:

   $ ./005_attach_bash_to_melodic_full_desktop.sh

Pro-tip: Learn to use tmux. It's awesome!