Docker-based ROS1 Workspace for Robotics Course

Overview

This project provides a Dockerized environment for developing and running ROS1-based applications for the robotics course. It includes a pre-built Docker image that simplifies the setup process and ensures consistency across different machines.

Folder Structure

• docker/ - Contains the Docker-related files.
  • Dockerfile - Defines the Docker image. Only needed for custom builds.
  • build.sh - Script to build the Docker image locally.
• start.sh - Script to start the Docker container. It pulls the pre-built image from the repository and mounts relevant folders.
• catkin_ws/ - Workspace for ROS development.
• data/ - Storage folder for data.

Usage

Starting the Container

To start the Docker container, run:

./start.sh

This script pulls the pre-built image from the repository and mounts the catkin_ws and data folders to ensure persistence.

If you want to use a custom-built Docker image, modify start.sh accordingly.

Connecting to the running Container

./connect.sh

This script can be run after start.sh to connect to the running container from a new terminal.

Building a Custom Docker Image

If you need to customize the Docker image, navigate to the docker/ folder and run:

cd docker
./build.sh

Then, update start.sh to use the newly built image instead of pulling from the repository.

Workspace Setup

Once inside the Docker container, you will have access to:

• A catkin_ws folder in your home directory to develop ROS packages.
• A data folder for persistent data storage.

These folders are mounted, meaning any changes made persist across container restarts.

Notes

• Ensure Docker is installed on your system before running the scripts.
• If modifying start.sh, ensure it points to the correct Docker image.
• The default workflow uses the pre-built Docker image for convenience, but custom images can be built if needed.