noVNC

Link: https://github.com/theasp/docker-novnc/tree/master Tutorials:

• https://divyanshu-raj.medium.com/ros-2-with-docker-part-1-9060f3095811
• https://wiki.ros.org/docker/Tutorials/GUI#Using_noVNC

Nice way to get ROS/ROS2 visualization working on Docker, which lets me use it on Mac.

• Create network: docker network create ros
• Can then run noVNC with:

docker run -d --rm --net=ros --env="DISPLAY_WIDTH=3000" --env="DISPLAY_HEIGHT=1800" --name=novnc -p=8080:8080 theasp/novnc:latest

• Make sure the sim container is on the same network and has the display env set to to noVNC:

docker run --name dolagon --env="DISPLAY=novnc:0.0" --network=ros -e ROS_DOMAIN_ID=9 -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp -e CYCLONEDDS_URI=/opt/polymathrobotics/dolagon_config/share/dolagon_config/config/dds_config.xml registry.gitlab.com/polymathrobotics/dolagon/dolagon_sim:humble ros2 launch dolagon_sim sim.launch.py

Alternatively, the Dockerfile can include the line ENV DISPLAY=novnc:0.0 in it.

Gazebo sim running on noVNC on localhost:8080:

Noetic

Start noVNC with:

docker run -d --rm --net=ros --env="DISPLAY_WIDTH=3000" --env="DISPLAY_HEIGHT=1800" --name=novnc -p=8080:8080 theasp/novnc:latest

Start ROS container with:

docker run -it --privileged --ipc=host \
  --env="DISPLAY=novnc:0.0" \
  --name="ros" \
  --network=ros \
  --device=/dev/ttyUSB0:/dev/ttyUSB0 \
  -e "QT_X11_NO_MITSHM=1" \
  -e "XAUTHORITY=$XAUTH" \
  --cap-add=SYS_PTRACE \
  -v /Users/kai/code/catkin_ws:/home/catkin_ws \
  osrf/ros:noetic-desktop-full bash

Attach windows to ROS container:

docker exec -it ros /bin/bash

• Remember to source /opt/ros/noetic/setup.bash and run roscore