diff --git a/mono/README.md b/mono/README.md index ceace5dc8..4162d04dd 100644 --- a/mono/README.md +++ b/mono/README.md @@ -1,13 +1,13 @@ # Supported tags and respective `Dockerfile` links -- [`3.10.0`, `3.10` (*3.10.0/Dockerfile*)](https://github.com/mono/docker/blob/adc7a3ec47f7d590f75a4dec0203a2103daf8db0/3.10.0/Dockerfile) -- [`3.10.0-onbuild`, `3.10-onbuild` (*3.10.0/onbuild/Dockerfile*)](https://github.com/mono/docker/blob/66226b17125b72685c2022e4fecaee2716b0fb3a/3.10.0/onbuild/Dockerfile) -- [`3.12.1`, `3.12.0`, `3.12`, `3` (*3.12.1/Dockerfile*)](https://github.com/mono/docker/blob/39c80bc024a4797c119c895fda70024fbc14d5b9/3.12.1/Dockerfile) -- [`3.12.1-onbuild`, `3.12.0-onbuild`, `3.12-onbuild`, `3-onbuild` (*3.12.1/onbuild/Dockerfile*)](https://github.com/mono/docker/blob/39c80bc024a4797c119c895fda70024fbc14d5b9/3.12.1/onbuild/Dockerfile) -- [`3.8.0`, `3.8` (*3.8.0/Dockerfile*)](https://github.com/mono/docker/blob/adc7a3ec47f7d590f75a4dec0203a2103daf8db0/3.8.0/Dockerfile) -- [`3.8.0-onbuild`, `3.8-onbuild` (*3.8.0/onbuild/Dockerfile*)](https://github.com/mono/docker/blob/66226b17125b72685c2022e4fecaee2716b0fb3a/3.8.0/onbuild/Dockerfile) -- [`4.0.5.1`, `4.0.5`, `4.0` (*4.0.5.1/Dockerfile*)](https://github.com/mono/docker/blob/39c80bc024a4797c119c895fda70024fbc14d5b9/4.0.5.1/Dockerfile) -- [`4.0.5.1-onbuild`, `4.0.5-onbuild`, `4.0-onbuild` (*4.0.5.1/onbuild/Dockerfile*)](https://github.com/mono/docker/blob/39c80bc024a4797c119c895fda70024fbc14d5b9/4.0.5.1/onbuild/Dockerfile) +- [`3.10.0`, `3.10` (*3.10.0/Dockerfile*)](https://github.com/mono/docker/blob/810b0cd85839b4b62706935a804fee63d2eb3285/3.10.0/Dockerfile) +- [`3.10.0-onbuild`, `3.10-onbuild` (*3.10.0/onbuild/Dockerfile*)](https://github.com/mono/docker/blob/810b0cd85839b4b62706935a804fee63d2eb3285/3.10.0/onbuild/Dockerfile) +- [`3.12.1`, `3.12.0`, `3.12`, `3` (*3.12.1/Dockerfile*)](https://github.com/mono/docker/blob/810b0cd85839b4b62706935a804fee63d2eb3285/3.12.1/Dockerfile) +- [`3.12.1-onbuild`, `3.12.0-onbuild`, `3.12-onbuild`, `3-onbuild` (*3.12.1/onbuild/Dockerfile*)](https://github.com/mono/docker/blob/810b0cd85839b4b62706935a804fee63d2eb3285/3.12.1/onbuild/Dockerfile) +- [`3.8.0`, `3.8` (*3.8.0/Dockerfile*)](https://github.com/mono/docker/blob/810b0cd85839b4b62706935a804fee63d2eb3285/3.8.0/Dockerfile) +- [`3.8.0-onbuild`, `3.8-onbuild` (*3.8.0/onbuild/Dockerfile*)](https://github.com/mono/docker/blob/810b0cd85839b4b62706935a804fee63d2eb3285/3.8.0/onbuild/Dockerfile) +- [`4.0.5.1`, `4.0.5`, `4.0` (*4.0.5.1/Dockerfile*)](https://github.com/mono/docker/blob/810b0cd85839b4b62706935a804fee63d2eb3285/4.0.5.1/Dockerfile) +- [`4.0.5.1-onbuild`, `4.0.5-onbuild`, `4.0-onbuild` (*4.0.5.1/onbuild/Dockerfile*)](https://github.com/mono/docker/blob/810b0cd85839b4b62706935a804fee63d2eb3285/4.0.5.1/onbuild/Dockerfile) - [`4.2.1.102`, `4.2.1`, `4.2`, `4`, `latest` (*4.2.1.102/Dockerfile*)](https://github.com/mono/docker/blob/39c80bc024a4797c119c895fda70024fbc14d5b9/4.2.1.102/Dockerfile) - [`4.2.1.102-onbuild`, `4.2.1-onbuild`, `4.2-onbuild`, `4-onbuild`, `onbuild` (*4.2.1.102/onbuild/Dockerfile*)](https://github.com/mono/docker/blob/39c80bc024a4797c119c895fda70024fbc14d5b9/4.2.1.102/onbuild/Dockerfile) diff --git a/ros/README.md b/ros/README.md index e52089b48..3b445a6e3 100644 --- a/ros/README.md +++ b/ros/README.md @@ -76,7 +76,6 @@ The ROS runtime "graph" is a peer-to-peer network of processes (potentially dist ## Deployment example -**NOTE:** This requires the experimental version of Docker for future networking features. If we want our all ROS nodes to easily talk to each other, we'll can use a virtual network to connect the separate containers. In this short example, we'll create a virtual network, spin up a new container running `roscore` advertised as the `master` service on the new network, then spawn a message publisher and subscriber process as services on the same network. ### Build image @@ -111,8 +110,8 @@ $ docker build --tag ros:ros-tutorials . > To create a container for the ROS master and advertise it's service: ```console -$ docker run -it --rm\ - --publish-service=master.foo \ +$ docker run -it --rm \ + --net foo \ --name master \ ros:ros-tutorials \ roscore @@ -121,11 +120,11 @@ $ docker run -it --rm\ > Now you can see that master is running and is ready manage our other ROS nodes. To add our `talker` node, we'll need to point the relevant environment variable to the master service: ```console -$ docker run -it --rm\ - --publish-service=talker.foo \ +$ docker run -it --rm \ + --net foo \ + --name talker \ --env ROS_HOSTNAME=talker \ --env ROS_MASTER_URI=http://master:11311 \ - --name talker \ ros:ros-tutorials \ rosrun roscpp_tutorials talker ``` @@ -133,11 +132,11 @@ $ docker run -it --rm\ > Then in another terminal, run the `listener` node similarly: ```console -$ docker run -it --rm\ - --publish-service=listener.foo \ +$ docker run -it --rm \ + --net foo \ + --name listener \ --env ROS_HOSTNAME=listener \ --env ROS_MASTER_URI=http://master:11311 \ - --name listener \ ros:ros-tutorials \ rosrun roscpp_tutorials listener ``` @@ -189,6 +188,63 @@ $ docker stop master talker listener $ docker rm master talker listener ``` +### Compose + +Now that you have an appreciation for bootstrapping a distributed ROS example manually, lets try and automate it using [`docker-compose`](https://docs.docker.com/compose/)\. + +> Start by making a folder named `rostutorials` and moving the Dockerfile we used earlier inside this directory. Then create a yaml file named `docker-compose.yml` in the same directory and paste the following inside: + +```yaml +master: + build: . + container_name: master + command: + - roscore + +talker: + build: . + container_name: talker + environment: + - "ROS_HOSTNAME=talker" + - "ROS_MASTER_URI=http://master:11311" + command: rosrun roscpp_tutorials talker + +listener: + build: . + container_name: listener + environment: + - "ROS_HOSTNAME=listener" + - "ROS_MASTER_URI=http://master:11311" + command: rosrun roscpp_tutorials listener +``` + +> Now from inside the same folder, use docker-copose to launch our ROS nodes and specify that they coexist on their own network: + +```console +$ docker-compose --x-networking up -d +``` + +> Notice that a new network named `rostutorials` has now been created, you can inspect it further with: + +```console +$ docker network inspect rostutorials +``` + +> We can monitor the logged output of each service, such as the listener node like so: + +```console +$ docker-compose logs listener +``` + +> Finally, we can stop and remove all the relevant containers using docker-copose from the same directory: + +```console +$ docker-compose stop +$ docker-compose rm +``` + +> Note: the auto-generated network, `rostutorials`, will persist over the life of the docker engine or until you explicitly remove it using [`docker network rm`](https://docs.docker.com/engine/reference/commandline/network_rm/)\. + # More Resources [ROS.org](http://www.ros.org/): Main ROS website