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Robot Operating System (ROS) pp 285–307Cite as

ROS and Docker

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Part of the book series: Studies in Computational Intelligence ((SCI,volume 707))

Abstract

In this tutorial chapter we’ll cover the growing intersection between ROS and Docker, showcasing new development tools and strategies to advance robotic software design and deployment within a ROS/Gazebo context by utilizing advances in Linux containers. Tutorial examples here will focus on robotics software development for education, research, and industry, specifically: constructing repeatable and reproducible environments, leveraging software defined networking, as well as running and shipping portable ROS applications.

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Notes

  1. 1.

    http://wiki.ros.org/SROS/Installation/Docker.

  2. 2.

    https://hub.docker.com/_/ros/.

  3. 3.

    https://hub.docker.com/_/gazebo/.

  4. 4.

    https://github.com/NVIDIA/nvidia-docker.

  5. 5.

    https://docs.docker.com/linux/step_one/.

  6. 6.

    https://docs.docker.com/compose/.

  7. 7.

    https://github.com/osrf/docker_images.

  8. 8.

    https://github.com/osrf/docker_templates.

  9. 9.

    https://github.com/ruffsl/ros_docker_demos.

  10. 10.

    https://youtu.be/9xqekKwzmV8.

  11. 11.

    https://docs.docker.com/swarm.

  12. 12.

    https://docs.docker.com/machine.

  13. 13.

    https://github.com/ruffsl/ros_caffe.

  14. 14.

    https://youtu.be/T8ZnnTpriC0.

  15. 15.

    http://127.0.0.1:8085/ros_caffe_web/index.html.

  16. 16.

    https://youtu.be/P__phnA57LM.

  17. 17.

    http://wiki.ros.org/docker.

  18. 18.

    https://youtu.be/djLKmDMsdxM.

  19. 19.

    https://docs.docker.com/engine/userguide/eng-image/dockerfile_best-practices/.

  20. 20.

    https://github.com/Yelp/dumb-init.

  21. 21.

    https://blog.phusion.nl/2015/01/20/docker-and-the-pid-1-zombie-reaping-problem.

  22. 22.

    https://github.com/jpetazzo/squid-in-a-can.

  23. 23.

    https://github.com/gliderlabs/resolvable.

References

  1. Arulkumaran, K. 2015. Kaixhin/dockerfiles. https://github.com/Kaixhin/dockerfiles.

  2. Boettiger, C. 2015. An introduction to docker for reproducible research. SIGOPS Operating Systems Review 49 (1): 71–79. doi:10.1145/2723872.2723882.

    Article  Google Scholar 

  3. Bonsignorio, F., and A.P. del Pobil. 2015. Toward Replicable and Measurable Robotics Research. IEEE Robotics & Automation Magazine 22 (3): 32–35. http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=7254310.

  4. Guglielmelli, E. 2015. Research Reproducibility and Performance Evaluation for Dependable Robots. IEEE Robotics & Automation Magazine 22 (3): 4–4. http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=7254300.

  5. Jia, Y., E. Shelhamer, J. Donahue, S. Karayev, J. Long, R. Girshick, S. Guadarrama, and T. Darrell. 2014. Caffe: Convolutional architecture for fast feature embedding. arXiv:1408.5093.

  6. Mabry, R., J. Ardonne, J. Weaver, D. Lucas, and M. Bays. 2016. Maritime autonomy in a box: Building a quickly-deployable autonomy solution using the docker container environment. In IEEE Oceans.

    Google Scholar 

  7. Sucan, I.A., and S. Chitta. Moveit! http://moveit.ros.org.

  8. White, R. 2015. ROS + Docker: Enabling repeatable, reproducible and deployable robotic software via containers. ROSCon, Hamburg Germany. https://vimeo.com/142150815.

  9. White, R., M. Quigley, and H. Christensen. 2016. SROS: Securing ROS over the wire, in the graph, and through the kernel. In Humanoids Workshop: Towards Humanoid Robots OS. Cancun, Mexico.

    Google Scholar 

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Author information

Authors and Affiliations

  1. Contextual Robotics Institute, University of California, 9500 Gilman Drive, La Jolla, San Diego, CA, 92093, USA

    Ruffin White & Henrik Christensen

Authors
  1. Ruffin White
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  2. Henrik Christensen
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Corresponding author

Correspondence to Ruffin White .

Editor information

Editors and Affiliations

  1. College of CS & Informat Systems, Prince Sultan University College of CS & Informat Systems, Riyadh, Saudi Arabia

    Anis Koubaa

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© 2017 Springer International Publishing AG

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White, R., Christensen, H. (2017). ROS and Docker. In: Koubaa, A. (eds) Robot Operating System (ROS). Studies in Computational Intelligence, vol 707. Springer, Cham. https://doi.org/10.1007/978-3-319-54927-9_9

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  • DOI: https://doi.org/10.1007/978-3-319-54927-9_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-54926-2

  • Online ISBN: 978-3-319-54927-9

  • eBook Packages: EngineeringEngineering (R0)

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