ref #1: Add Mac OS, Windows Docker instructions

README.md

@@ -7,7 +7,33 @@
 - Currently, only very simple use cases are contained here. We will gradually update the code. Watch this space!
 - The examples only work when *all* projects in this workspace are checked out.
 
-## Requirements
+## Docker
+
+To quickly run the graphical example applications, you can use Docker. For development purposes, please use the regular installation instructions further below in this document.
+
+- Clone this repo and its submodules:
+    - as a guest: `git clone --recurse-submodules https://git-st.inf.tu-dresden.de/ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace`
+    - as a project member with a registered ssh key: `git clone --recurse-submodules git@git-st.inf.tu-dresden.de:ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace`
+- Follow the steps for your operating system.
+
+### Linux
+
+- Install Docker for your linux distribution
+- Run `./docker-run.sh roslaunch sample_applications sample_simple_simulation.launch` to build and run a docker image tagged with `ceti-panda-gazebo-workspace`
+
+### Windows 10
+
+- Install [Docker Desktop for Windows](https://hub.docker.com/editions/community/docker-ce-desktop-windows)
+- Install [Xming](https://sourceforge.net/projects/xming/)
+- Run `docker-run.bat roslaunch sample_applications sample_simple_simulation.launch`
+
+### Mac OS
+
+- Install [Docker Destop for Mac OS](https://hub.docker.com/editions/community/docker-ce-desktop-mac)
+- Install [XQuartz](https://www.xquartz.org/). Enable the `Allow connections from network clients` setting in the preferences (`Security` Tab).
+- Run `docker-run-mac.sh roslaunch sample_applications sample_simple_simulation.launch`
+
+## Requirements for development
 
 - Ubuntu 18.4
 - ROS Melodic
@@ -43,12 +69,3 @@ See the [README.md of the submodule](../../../../sample_applications/-/blob/mast
 - Execution of a simple motion: `roslaunch sample_applications sample_simple_simulation.launch`
 - Execution of a simple motion costraint by a blocking object: `roslaunch sample_applications sample_constraint_simulation.launch`
 - Execution of a velocity constraint cartesian trajectory: `roslaunch sample_applications simulation.launch`
-
-## Docker
-
-To run via docker on any up-to-date linux system:
-
-- Clone this repo and its submodules (recommended for fresh installations):
-    - as a guest: `git clone --recurse-submodules https://git-st.inf.tu-dresden.de/ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace`
-    - as a project member with a registered ssh key: `git clone --recurse-submodules git@git-st.inf.tu-dresden.de:ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace`
-- Run `./docker-run.sh roslaunch sample_applications sample_simple_simulation.launch` to build and run a docker image tagged with `ceti-panda-gazebo-workspace`
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config.xlaunch

+<?xml version="1.0"?>
+<XLaunch xmlns="http://www.straightrunning.com/XmingNotes" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.straightrunning.com/XmingNotes XLaunch.xsd" WindowMode="MultiWindow" ClientMode="NoClient" Display="0" Clipboard="true" NoAccessControl="true"/>

docker-run-mac.sh

+#!/bin/sh
+
+xhost + 127.0.0.1
+
+docker build . -t ceti-panda-gazebo-workspace
+
+docker run -it \
+    --env="DISPLAY=host.docker.internal:0" \
+    --user="ros" \
+    ceti-panda-gazebo-workspace \
+    "$@"
\ No newline at end of file

docker-run.bat

+start config.xlaunch
+
+docker build . -t ceti-panda-gazebo-workspace
+
+docker run -it^
+ --env="DISPLAY=host.docker.internal:0"^
+ --user="ros"^
+ ceti-panda-gazebo-workspace^
+ %*
+
+pause
\ No newline at end of file