ros1_tiago_docker - Docker enabled TIAGo++ ROS workspace

Based on https://github.com/Davidelanz/ros1_docker

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To spin up the development environment:

docker compose up

The noVNC GUI is available at http://localhost:8080/vnc.html

To to freshly build the docker image change from:

image: ghcr.io/davidelanz/ros1_tiago_docker

to:

build:
    dockerfile: ./Dockerfile

and use:

docker compose up --build

To launch a .launch file, e.g. tiago_dual_gazebo:

docker exec -it ros1_tiago_docker-catkin_ws-1 bash -c '\
    source /opt/ros/melodic/setup.bash \
    && source /root/catkin_ws/devel/setup.bash \
    && roslaunch \
        tiago_dual_gazebo \
        tiago_dual_gazebo.launch \
        public_sim:=true \
        end_effector_left:=pal-gripper \
        end_effector_right:=pal-gripper \
        world:=tutorial_office \
        gzpose:="-x 1.40 -y -2.79 -z -0.003 -R 0.0 -P 0.0 -Y 0.0" \
        use_moveit_camera:=true'

To launch rviz:

docker exec -it ros1_tiago_docker-catkin_ws-1 '\
    source /opt/ros/melodic/setup.bash \
    && source /root/catkin_ws/devel/setup.bash \
    && rosrun rviz rviz'

To launch rqt_graph:

docker exec -it ros1_tiago_docker-catkin_ws-1 '\
    source /opt/ros/melodic/setup.bash \
    && source /root/catkin_ws/devel/setup.bash \
    && rosrun rqt_graph rqt_graph'

To add a new package, add the respective volume in the docker-compose.yml file:

volumes:
    - /path/to/<package_name>:/root/catkin_ws/src/<package_name>