webots-docker

Dockerized ROSbot 2R and ROSbot XL simulation in webots built for ROS2 Humble distro.

Docker image usage

Available tags: humble.

Pulling docker image

docker pull husarion/webots:humble

Adding non-network local connections to access control list

xhost local:docker

Running docker image

Select the ROSbot:

export ROBOT_NAME=rosbot # or rosbot_xl

Without GPU:

docker run --rm -it \
-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
-e DISPLAY -e LIBGL_ALWAYS_SOFTWARE=1 \
-e DDS_CONFIG=DEFAULT -e RMW_IMPLEMENTATION=rmw_fastrtps_cpp \
husarion/webots:humble \
ros2 launch webots_ros2_husarion ${ROBOT_NAME}_launch.py

With GPU:

docker run --rm -it \
--runtime=nvidia \
-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
-e NVIDIA_VISIBLE_DEVICES=all \
-e NVIDIA_DRIVER_CAPABILITIES=all \
-e DISPLAY \
-e DDS_CONFIG=DEFAULT -e RMW_IMPLEMENTATION=rmw_fastrtps_cpp \
husarion/webots:humble \
ros2 launch webots_ros2_husarion ${ROBOT_NAME}_launch.py

Running demo with docker compose

Go to demo/ folder and read demo/README.md.