docker-ros1-noetic-gazebo-gym

Docker image with ROS 1 Noetic Development Environment with Gazebo, Gymnasium, and RViz for various robotics purposes at UNF, club, research, and development. This container contains the initial environment to build and run ROS 1 simulations using Gazebo, Gymnasium, PyTorch, and RViz.

This container has a pre-built installation of ros-gazebo-gym along with panda_gazebo for complete simulation and reinforcement Learning development environment, with sources in /opt/ros_ws/src.

Latest

Docker Pull Command

docker pull unfrobotics/docker-ros1-noetic-gazebo-gym:latest

enable X11 ssh forwarding

Enable in sshd and restart

sudo nano /etc/ssh/sshd_config

X11Forwarding yes

Enable X server access

sudo xhost +local:docker
sudo xhost +

Development Environment Usage

Inside the container, there is an initial folder /opt/ros_ws/src that is intended for use for to build ROS packages. ROS package sources can either be downloaded into the container, or local mount, to allow for development using a local IDE.

Run Command on Linux

The following command will open a terminal to the newly created container that uses the host computers network. It also assumes that the sources have been downloaded locally in ~/mypkg_ros/ and shared as a volume in the folder inside the container. Inside the container run gazebo or rviz, attach another shell to run both and/or other ROS commands.

docker run --net=host --rm -it --env DISPLAY=$DISPLAY --privileged \
    -v /dev:/dev -v ~/mypkg_ros/:/opt/ros_ws/src/mypkg_ros \
    unfrobotics/docker-ros1-noetic-gazebo-gym:latest

Start sample world

Run the following command to start a sample world, arm with empty world

roslaunch panda_gazebo start_simulation.launch