A demo project that shows a proposed structure of a modularized and containerized ROS system. It includes two submodules, where module 1 includes a talker/listener node in two packages whereas module 2 includes a node that subscribes to the topic of the talker and outputs a colored image based on the message data.
- Docker Engine
- Docker Compose plugin (If you're using Compose version 1, you need to use "docker-compose" instead of "docker compose" in your commands!)
git clone --recursive https://github.com/KevS272/ros_demo_project.gitsudo docker compose upThe Docker images get built and after that, compose will start up a container that automatically builds the Colcon workspace and starts the launch file that was specified in docker/ros_entrypoint.sh which gets copied into the image during the build process.
You can stop the nodes at any time using CTRL + C in the command line. The compose will stop the container (it does not delete it!). This means you can start the container again using sudo docker compose up.
If you want to run the container detached, add the -d flag to the compose command like this:
sudo docker compose up -dIf you do this, you will have to sudo docker compose stop to stop the container or sudo docker compose down to completely remove it.
Module 1 automatically starts a Foxglove websocket for visualization purposes through its launchfile.
Go to the Foxglove website and follow the instructions for installation
Click on Open connection and choose Foxglove WebSocket. In the websocket URL field, paste the following URL, which is the one from the module1 container:
ws://localhost:8765
After that, click on open.
Click on the Layout dropdown menu in the top right corner of the Foxglove window and choose Import from file.
Navigate to this repo and load the foxglove_demo_panel.json. Now, you should see both the talker message as well as the changing color image in Foxglove.