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docker-help.md

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Using Docker

Docker is a tool that runs and manages containers. A container is similar to a very lightweight virtual machine.

For this workshop, we start groups of containers all at once using a command called docker-compose. This allows us to run multiple ROS nodes in one go.

This repository contains 4 groups of containers, each one provides an entire ROS system with different settings:

  • ROS Basic: a minimal ROS system containing just a master node and a few other nodes required to access it from Windows. Configuration file.
  • ROS UR5 - Planning: a ROS system configured with MoveIt! motion planning for a UR5 robot. Configuration file.
  • ROS ABB Linear axis - Planning: a ROS system configured with MoveIt! motion planning for an ABB linear axis system. Configuration file.
  • ROS ABB Linear axis - Execution: a ROS system configured with MoveIt! motion planning for a ABB linear axis system and the ABB driver to execute trajectories on a real (or virtual) robot. Configuration file.

How to start docker containers

From the command prompt

Open your Anaconda prompt (or the command prompt), go to the folder where the docker-compose.yml file resides, and run:

docker-compose up -d

Once you're done with the system, you can remove all containers with:

docker-compose down

From Visual Studio Code

If you have the Docker extension installed, you can right-click any docker-compose.yml file and select Compose Up and Compose Down to turn the systems on and off.