Docker container with pure Ubuntu 14.04 + ROS Indigo + Fetch Gazebo setup + VNC & openbox

This repository contains a Dockerfile for building ROS and Fetch packages on top of pure Ubuntu 14.04 docker image (with openbox window manager), which runs in a headless mode, and is viewed through the vnc.

Building manually

To build manually, pull the repo:

git pull https://github.com/mksmsrkn/fetchit_docker.git
cd fetchit_docker
docker build -t fetchit_docker .

Building was tested on Ubuntu 18.04 Docker hosts.

Running the image

To run the container enter:

docker run -d --name fetchit -p 5900:5900 fetchit_docker

Connecting

You can use any VNC viewer of your choice to connect to the image.

VNC address: localhost OR 0.0.0.0 OR 127.0.0.1 (other of these would work)

VNC port: 5900 (if you prefer to use another port replace the first -p value when running docker run -p $PORT:5900)

After connecting you will see a black screen, you can make a right click to see the dropdown window managep menu, where you can open Terminal emulator (which is a Terminator by default).

GQCNN Demo

1. Build the image with "docker build -t fetchit_docker_gqcnn ."
2. Download the pretrained network (from URL) to model/
3. Run the container with docker run -d -p 5900:5900 -v $(pwd)/model:/root/catkin_ws/src/gqcnn/models fetchit_docker_gqcnn
4. Connect with VNC on localhost:5900 (might have to wait a few minutes)
5. Run ./setup.sh to fix the yaml config file
6. Within the container you got to source the catkin_ws (cd catkin_ws/ && source devel/setup.bash)
7. Run demo from catkin_ws/src/gqcnn with python examples/policy.py --config_filename cfg/examples/policy.yaml

Gazebo world package

1. Make sure you clone https://github.com/mksmsrkn/fetchit_world.git into a parent directory.
2. Follow the https://github.com/mksmsrkn/fetchit_world/blob/master/README.md

Remarks

You can follow the steps from the Gazebo website now to run the simulator - http://docs.fetchrobotics.com/gazebo.html#starting-the-simulator.