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Docker Intro

Instructions on how to use duke robotics' docker image. Docker must already be installed.

  1. Get the image
docker pull dukerobotics/robosub-ros
  1. Run a container.

  • Without mounting code

    • Mac / Linux / Windows
    docker run -td -p 2200:2200 dukerobotics/robosub-ros

  • With mounting code (you need --mount)

    • Note that source must be given the full path to the robosub-ros/src folder on your system in order to work. Here are some examples for how the command can be run on different systems, replace the path to robosub-ros/src with whatever it is on your computer.
    • Windows
    docker run -td -p 2200:2200 --mount type=bind,source=C:\Users\Eric\Documents\Robotics\CS,target=/home/duke/dev/robosub-ros/src  dukerobotics/robosub-ros
    • Mac
    docker run -td -p 2200:2200 --mount type=bind,source=/Users/neil/Desktop/Code/robosub-ros/src,target=/home/duke/dev/robosub-ros/catkin_ws/src  dukerobotics/robosub-ros
    • Linux (production)
    docker run -td --privileged --net=host --mount type=bind,source=/home/robot/robosub-ros/src,target=/home/duke/dev/robosub-ros/catkin_ws/src  dukerobotics/robosub-ros

  1. Connect to the container using ssh.

    a. If on PC, download MobaXterm

    b. If on Mac, download xquartz

    c. Connect

    • Local container
    ssh -XY -p 2200 duke@localhost
    • Remote (on robot) container
    ssh -XY -p 2200 duke@192.168.1.1
    • The password is 'robotics'
    • Note: If you are using Windows Home, you should have installed Docker Toolbox for Windows. This means that the docker container is running inside a virtual machine instead of directly on your computer. Run docker-machine ip to get the ip address of the virtual machine, and ssh to that ip instead of localhost.
    ssh -XY -p 2200 duke@[your ip]

Run a container notes

  • -t

    • Allocate a bash shell inside the container

  • -d

    • Start the container in the background

  • -p 2200:2200

    • Forward port 2200 on the container to port 2200 on user's computer

  • --mount type=bind,source=/PATH/TO/SRC,target=/home/duke/dev/robosub-ros/catkin_ws/src

    • Create a binding between a folder on the user's computer to a folder inside the container
      • All files in src on user's computer will be mirrored to src inside container, i.e. changes made on user's computer will occur inside the container, and vice versa

  • --privileged

    • Run the container in privileged mode, allowing access to /dev
    • Use this flag if you need to connect to USB devices

  • --net=host

    • Allow the container to access network devices (such as cameras)
    • Automatically binds all container ports to system ports so no need to manually bind 2200

Connect to a container notes

  • -XY

    • Forward graphics over ssh connections

  • -p 2200

    • ssh to port 2200, instead of the default port 22