Incremental docker build going base->moveit_update->moveit_bridge. To run, use
docker run -rm -d -p 5901:5901 -p 6901:6901 -p 9090:9090 -e VNC_PW={YOUR_PASSWORD} swilcock0/ros2_ubuntu:user( Default password : samrobot )
Then you can visit http://localhost:6901/vnc.html, or use a VNC viewer with port 5901 (currently broken) to access the ROS2 desktop.
Tools included in the build:
- Gazebo11
- Moveit2 for motion planning and control
- Forked version of ros2-web-bridge which allows easy JSON control of ROS2 from the host
It's a pretty large final image for development use. VNC part based roughly on henry2423/docker-ros-vnc