| Name | roboco JSON |
| Version |
0.0.4
JSON |
| download |
| home_page | None |
| Summary | A tool to generate Dockerfiles for use in robotics, as well as a script to build and enter these containers, with support for graphical applications, GPU passthrough, realtime scheduling, host networking and full device access. |
| upload_time | 2023-05-30 02:54:14 |
| maintainer | None |
| docs_url | None |
| author | None |
| requires_python | >=3.7 |
| license | None |
| keywords |
containers
robotics
|
| VCS |
 |
| bugtrack_url |
|
| requirements |
No requirements were recorded.
|
| Travis-CI |
No Travis.
|
| coveralls test coverage |
No coveralls.
|
# Robot Containers
This repository contains Dockerfiles for building containers for [various robots](#available-containers).
It also includes a python script `run.py` that wraps the `docker` command to enable:
- building, starting and entering the container in one step
- graphical applications
- nvidia GPU passthrough
- realtime scheduling
- host networking
- full external device access (USB, cameras, etc.)
Finally, it includes `roboco`, a script for generating a new project from the included Dockerfiles.
[](https://github.com/monashrobotics/robot_containers/actions/workflows/ci.yml)
[](https://github.com/monashrobotics/robot_containers/actions/workflows/docker-publish.yml)
[](https://github.com/charliermarsh/ruff)
[](https://github.com/psf/black)
[](https://github.com/python/mypy) [](https://spdx.org/licenses/)
[](https://pypi.python.org/pypi/roboco)
[](https://pypi.python.org/pypi/roboco)
## Table of Contents
* [Requirements](#requirements)
* [Installation](#installation)
* [Usage](#usage)
* [Adding a container to your project](#adding-a-container-to-your-project)
* [Running the container](#running-the-container)
* [Customising the container](#customising-the-container)
* [Available Dockerfile Templates](#available-dockerfile-templates)
* [Hardware Drivers](#hardware-drivers)
* [Software Snippets](#software-snippets)
* [Contributing](#contributing)
* [Troubleshooting](#troubleshooting)
## Requirements
### Docker
- Tested with Docker 20.10.23.
- Install on Ubuntu using `sudo apt install docker.io` (other installation methods may not play well with the nvidia-docker2 runtime.)
- Follow "Manage Docker as a non-root user" at https://docs.docker.com/engine/install/linux-postinstall/
### nvidia-docker2 (for GPU support, optional)
- Install nvidia-docker2 by following https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#setting-up-nvidia-container-toolkit
### VSCode - Dev Containers Extension (Optional)
- Tested with v0.292.0 of Dev Containers extension https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers
## Installation
### Using pip
```
pip install roboco
```
### Using git
```
git clone https://github.com/monashrobotics/robot_containers.git
cd robot_containers
pip install .
```
## Usage
### Adding a container to your project
```
roboco init
```
Follow the prompts to select the robot type and additional features.
Once completed, there will be two new files in your current directory: `Dockerfile` and `run.py`.
### Running the container
Build the image and run the container using:
```
./run.py
```
### Customising the container
The `Dockerfile` can be edited to add additional dependencies or change the base image.
When you make changes to the `Dockerfile`, you will need to rebuild the image using:
```
./run.py build
```
Then remove the old container and start a new one:
```
./run.py rm
./run.py
```
## Available Dockerfile Templates
Dockerfile templates are available for the following robot / ROS / Ubuntu combinations.
| Robot / ROS Distro (Ubuntu OS) | ROS 1 Noetic (20.04) | ROS 2 Foxy (20.04) | ROS 2 Humble (22.04)
| --- | :---: | :---: | :---: |
| ABB YuMi | WIP | ❌ | ❌ |
| Baxter | WIP | ❌ | ❌ |
| Fetch | WIP | ❌ | ❌ |
| Jackal | WIP | WIP | WIP |
| Panda | WIP | ❌ | ❌ |
| Ridgeback | WIP | ❌ | ❌ |
| UR5 | ✅ | ❌ | WIP |
Generic ROS 1 and ROS 2 Dockerfile templates for the following distributions are also available:
- ROS 1 Kinetic (16.04)
- ROS 1 Melodic (18.04)
- ROS 1 Noetic (20.04)
- ROS 2 Foxy (20.04)
- ROS 2 Galactic (20.04)
- ROS 2 Humble (22.04)
### Hardware Drivers
Snippets are available for these hardware drivers and ROS distro combinations:
| Driver / ROS Distro (Ubuntu OS) | ROS 1 Noetic (20.04) | ROS 2 Foxy (20.04) | ROS 2 Humble (22.04)
| --- | :---: | :---: | :---: |
| RealSense Camera | WIP | WIP | WIP |
| Velodyne LiDAR | WIP | WIP | WIP |
| Robotiq 2F-85 Gripper | WIP | ❌ | ❌ |
| Robotiq FT-300 Force-Torque Sensor | WIP | ❌ | ❌ |
### Software Snippets
Snippets are available for the following software packages:
| Software | ROS 1 Noetic (20.04) | ROS 2 Foxy (20.04) | ROS 2 Humble (22.04)
| --- | :---: | :---: | :---: |
| pytorch | WIP | WIP | WIP |
## Contributing
If there's a robot, or hardware driver that you'd like to see supported, please open an issue or pull request.
See [CONTRIBUTING.md](CONTRIBUTING.md)
## Troubleshooting
See [docs/troubleshooting.md](docs/troubleshooting.md)
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"description": "\n# Robot Containers\nThis repository contains Dockerfiles for building containers for [various robots](#available-containers).\nIt also includes a python script `run.py` that wraps the `docker` command to enable:\n\n- building, starting and entering the container in one step\n- graphical applications\n- nvidia GPU passthrough\n- realtime scheduling\n- host networking\n- full external device access (USB, cameras, etc.)\n\nFinally, it includes `roboco`, a script for generating a new project from the included Dockerfiles.\n\n[](https://github.com/monashrobotics/robot_containers/actions/workflows/ci.yml)\n[](https://github.com/monashrobotics/robot_containers/actions/workflows/docker-publish.yml)\n[](https://github.com/charliermarsh/ruff) \n[](https://github.com/psf/black) \n[](https://github.com/python/mypy) [](https://spdx.org/licenses/)\n[](https://pypi.python.org/pypi/roboco)\n[](https://pypi.python.org/pypi/roboco)\n\n## Table of Contents\n\n * [Requirements](#requirements)\n * [Installation](#installation)\n * [Usage](#usage)\n * [Adding a container to your project](#adding-a-container-to-your-project)\n * [Running the container](#running-the-container)\n * [Customising the container](#customising-the-container)\n* [Available Dockerfile Templates](#available-dockerfile-templates)\n * [Hardware Drivers](#hardware-drivers)\n * [Software Snippets](#software-snippets)\n* [Contributing](#contributing)\n* [Troubleshooting](#troubleshooting)\n\n## Requirements\n\n### Docker\n- Tested with Docker 20.10.23. \n\n- Install on Ubuntu using `sudo apt install docker.io` (other installation methods may not play well with the nvidia-docker2 runtime.)\n\n- Follow \"Manage Docker as a non-root user\" at https://docs.docker.com/engine/install/linux-postinstall/\n\n### nvidia-docker2 (for GPU support, optional)\n- Install nvidia-docker2 by following https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#setting-up-nvidia-container-toolkit\n\n### VSCode - Dev Containers Extension (Optional)\n- Tested with v0.292.0 of Dev Containers extension https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers\n\n## Installation\n\n### Using pip\n```\npip install roboco\n```\n\n### Using git\n```\ngit clone https://github.com/monashrobotics/robot_containers.git\ncd robot_containers\npip install .\n```\n\n## Usage\n### Adding a container to your project\n```\nroboco init\n```\n\nFollow the prompts to select the robot type and additional features.\n\nOnce completed, there will be two new files in your current directory: `Dockerfile` and `run.py`.\n\n### Running the container\n\nBuild the image and run the container using:\n```\n./run.py\n```\n\n### Customising the container\n\nThe `Dockerfile` can be edited to add additional dependencies or change the base image.\n\nWhen you make changes to the `Dockerfile`, you will need to rebuild the image using:\n```\n./run.py build\n```\nThen remove the old container and start a new one:\n```\n./run.py rm\n./run.py\n```\n\n## Available Dockerfile Templates\n\nDockerfile templates are available for the following robot / ROS / Ubuntu combinations.\n\n| Robot / ROS Distro (Ubuntu OS) | ROS 1 Noetic (20.04) | ROS 2 Foxy (20.04) | ROS 2 Humble (22.04)\n| --- | :---: | :---: | :---: |\n| ABB YuMi | WIP | \u274c | \u274c |\n| Baxter | WIP | \u274c | \u274c |\n| Fetch | WIP | \u274c | \u274c |\n| Jackal | WIP | WIP | WIP |\n| Panda | WIP | \u274c | \u274c |\n| Ridgeback | WIP | \u274c | \u274c |\n| UR5 | \u2705 | \u274c | WIP |\n\nGeneric ROS 1 and ROS 2 Dockerfile templates for the following distributions are also available:\n\n- ROS 1 Kinetic (16.04)\n- ROS 1 Melodic (18.04)\n- ROS 1 Noetic (20.04)\n\n- ROS 2 Foxy (20.04)\n- ROS 2 Galactic (20.04)\n- ROS 2 Humble (22.04)\n\n### Hardware Drivers\n\nSnippets are available for these hardware drivers and ROS distro combinations:\n\n| Driver / ROS Distro (Ubuntu OS) | ROS 1 Noetic (20.04) | ROS 2 Foxy (20.04) | ROS 2 Humble (22.04)\n| --- | :---: | :---: | :---: |\n| RealSense Camera | WIP | WIP | WIP |\n| Velodyne LiDAR | WIP | WIP | WIP |\n| Robotiq 2F-85 Gripper | WIP | \u274c | \u274c |\n| Robotiq FT-300 Force-Torque Sensor | WIP | \u274c | \u274c |\n\n### Software Snippets\n\nSnippets are available for the following software packages:\n\n| Software | ROS 1 Noetic (20.04) | ROS 2 Foxy (20.04) | ROS 2 Humble (22.04)\n| --- | :---: | :---: | :---: |\n| pytorch | WIP | WIP | WIP |\n\n## Contributing\nIf there's a robot, or hardware driver that you'd like to see supported, please open an issue or pull request.\nSee [CONTRIBUTING.md](CONTRIBUTING.md)\n\n## Troubleshooting\nSee [docs/troubleshooting.md](docs/troubleshooting.md)",
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