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Commit a73ce992 authored by Tim Kluge's avatar Tim Kluge
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Update vnc setup

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FROM henry2423/ros-vnc-ubuntu:melodic FROM fbottarel/ros-desktop-full-vnc:melodic
USER root RUN apt-get update && apt-get dist-upgrade -y
RUN apt-get install -y \
# Updated ros gpg key: https://github.com/henry2423/docker-ros-vnc/issues/1 ros-melodic-libfranka python-catkin-tools libeigen3-dev
RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 #WORKDIR /src/
RUN apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116 COPY ./vnc/simple_simulation.sh /root/Desktop/
RUN chmod a+x /root/Desktop/simple_simulation.sh
COPY ./vnc-entrypoint.sh /entrypoint.sh
RUN chmod +x /entrypoint.sh
RUN apt-get update && apt-get install -y \
python-catkin-tools bash \
mesa-utils libgl1-mesa-glx
COPY ./src /src/src
WORKDIR /src/
ENV ROS_DISTRO=melodic ENV ROS_DISTRO=melodic
RUN apt-get update && rosdep install --from-paths . -r -y WORKDIR /home/ubuntu/ros_ws
RUN rm build devel src -rf
COPY ./src /home/ubuntu/ros_ws/src
RUN apt-get update && rosdep install --from-paths . -r -y && apt-get clean
RUN catkin config \ RUN catkin config \
--extend /opt/ros/melodic && \ --extend /opt/ros/melodic && \
catkin build catkin build
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ENTRYPOINT ["/entrypoint.sh"]
...@@ -15,19 +15,9 @@ instructions further below in this document. Please note that the setup uses vnc ...@@ -15,19 +15,9 @@ instructions further below in this document. Please note that the setup uses vnc
- Clone this repo and its submodules: - 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 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` - 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. - Install Docker for your system (for Windows and Mac OS, install Docker Desktop)
- Run the container: `docker run -it -p 6080:80 --rm git-st.inf.tu-dresden.de:4567/ceti/ros-internal/panda_gazebo_workspace`. A webserver is run inside the container that is exposed to port `6080` on your system.
### Linux - Open `http://localhost:6080` in a web browser
- Install Docker for your linux distribution
- Run `./docker-run-vnc.sh roslaunch sample_applications sample_simple_simulation.launch` to build and run a docker image tagged with `ceti-panda-gazebo-workspace`
- Open `http://localhost:6901` in a web browser and enter the password `vncpassword`
### Windows 10
- Install [Docker Desktop for Windows](https://hub.docker.com/editions/community/docker-ce-desktop-windows)
- Run `docker-run-vnc.bat roslaunch sample_applications sample_simple_simulation.launch`
- Open `http://localhost:6901` in a web browser and enter the password `vncpassword`
## Requirements for development ## Requirements for development
......
docker build . -t ceti-panda-gazebo-workspace
docker run -it^
-p 5901:5901 -p 6901:6901^
ceti-panda-gazebo-workspace^
%*
pause
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#!/bin/sh
docker build . -t ceti-panda-gazebo-workspace
docker run -it \
-p 5901:5901 -p 6901:6901 \
ceti-panda-gazebo-workspace \
"$@"
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#!/bin/bash
source /opt/ros/melodic/setup.bash
source $HOME/devel/setup.bash
exec "$@"
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#!/bin/bash
source /opt/ros/melodic/setup.bash
source /src/devel/setup.bash
exec /dockerstartup/vnc_startup.sh $@
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#!/bin/bash
source ~/ros_ws/devel/setup.bash
roslaunch sample_applications simple_simulation.launch
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