Support-and-Docker-Files-for-ROS-Toolbox

This repository contains Dockerfiles, Gazebo world files and other supporting files to run the ROS Toolbox Examples which involves communication with ROS/ROS 2 Network. The ROS Docker file consists of ROS Installation of Noetic and ROS 2 Installation of Humble along with Gazebo 11 packages. Docker™ is an open platform for developing, shipping and running applications.

In 23b MATLAB Release, using this repo you can run the following two examples.

Example 1

Sign Following Robot with ROS in Simulink

Example 2

Sign Following Robot with ROS 2 in Simulink

MathWorks Products (https://www.mathworks.com)

Requires MATLAB® release R2022b or higher

• MATLAB®
• Simulink®
• ROS Toolbox

Installation

Installation Instructions for Docker on Linux

1. Download and Install Docker Engine: https://docs.docker.com/engine/install/ubuntu/#install-using-the-repository.
2. To manage Docker as a non root user, follow these post installation steps for Docker Engine: https://docs.docker.com/engine/install/linux-postinstall/

Installation Instructions for Docker on Windows

1. Install and setup WSL on your machine following this documentation: https://learn.microsoft.com/en-us/windows/wsl/install
2. Open WSL Terminal and install Docker Engine: https://docs.docker.com/engine/install/ubuntu/#install-using-the-repository.
3. To manage Docker as a non root user, follow these post installation steps for Docker Engine: https://docs.docker.com/engine/install/linux-postinstall/

Build the Docker Image

1. Clone this git repository to your local hard drive.
2. Open a Terminal (In linux) or WSL Terminal (In widndows) and navigate to the "Support-and-Docker-Files-for-ROS-Toolbox" folder.
3. Build the docker image: docker build -t <preferred_name> ros_noetic/Ubuntu (Ex: docker build -t my_noetic_docker_image .)
4. The docker image is now created and is ready to use. You can see the image by running the command "docker images" in a Terminal.
5. Create a docker container of the docker image: "docker run -it --name <name_of_container> <name_of_image> Ex: docker run -it --name ros_container my_noetic_docker_image bash
6. For docker command line options, please refer to this page: https://docs.docker.com/engine/reference/commandline/run/

For Display Issues

If you are facing display issues, use the following commands to run the docker container

1. Allow connections from docker: xhost +local:docker
2. Run the docker container with the necessary environment variables and volume mounts to fix display issues: docker run -it --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --device /dev/snd --net=host <name_of_image>

Examples

To learn how to communicate with Docker and ROS Toolbox, see Sign Following Robot with ROS in Simulink. To see the docker commands see Docker Commands

License

The license for this software is found in the license.txt file in this repository

Community Support

You can add your questions at MATLAB Answers.

To report any issue, contact - MathWorks Technical Support.

Copyright 2023 The MathWorks, Inc.