AS: adding Docker files

This commit is contained in:
Alexander Schaefer 2025-05-13 11:18:26 +02:00
parent 9cc8eecaa8
commit 15b3fbb66e
5 changed files with 33 additions and 24 deletions

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.DS_Store vendored

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@ -9,8 +9,8 @@ This repository provides an interface that connects OSC with ROS 2. It allows co
## Prerequisites
Either:
- **Operating System:** Ubuntu 22.04 recommended with ROS 2 installed
or
- **Docker:** Ensure Docker and Docker CLI are installed and running
- [Install for Windows](https://docs.docker.com/desktop/setup/install/windows-install/)
- [Install for Ubuntu](https://docs.docker.com/engine/install/ubuntu/)
@ -66,7 +66,29 @@ http://localhost:6080/vnc.html
---
## Installation Instructions
## Connecting to Simulation
Launch the robot driver (replace `x` with correct IP):
```bash
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=172.18.0.x
```
Use `hostname -i` inside each container to retrieve IPs.
On the teach pendant or URSim, set the ROS 2 containers IP in the External Control URCap.
---
## Check Connection
You can test if data is flowing correctly with:
```bash
ros2 topic echo /joint_states
```
---
## Installation Instructions for the Interface
1. **Source ROS 2**
```bash
@ -118,28 +140,6 @@ The script will guide you through the setup:
---
## Connecting to Simulation
Launch the robot driver (replace `x` with correct IP):
```bash
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=172.18.0.x
```
Use `hostname -i` inside each container to retrieve IPs.
On the teach pendant or URSim, set the ROS 2 containers IP in the External Control URCap.
---
## Check Connection
You can test if data is flowing correctly with:
```bash
ros2 topic echo /joint_states
```
---
## Example Usage
An example patch in puredata is provided that allows the user to control a 6-DOF robot with sliders via OSC.

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ROS2_humble/Dockerfile Normal file
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FROM osrf/ros:humble-desktop-full
RUN apt-get -y update
RUN apt-get -y upgrade
RUN apt-get -y install ros-humble-ur ros-humble-ros2controlcli nmap neovim tmux git nano iproute2 inetutils-ping

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URSim/Dockerfile Normal file
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FROM universalrobots/ursim_e-series:latest
COPY externalcontrol-1.0.5.jar /urcaps/externalcontrol-1.0.5.jar
EXPOSE 5900 6080 29999 30001-30004

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