4. Docker hardware interaction and data processing

The operating environment and software and hardware reference configuration are as follows:

• Reference model: ROSMASTER X3

• Robot hardware configuration: Arm series main control, Silan A1 lidar, AstraPro Plus depth camera

• Robot system: Ubuntu (no version required) + docker (version 20.10.21 and above)

• PC virtual machine: Ubuntu (18.04) + ROS (Melodic)

• Usage scenario: Use on a relatively clean 2D plane

   

4.1. Hardware mounting (port binding)

1. Establish udev rules (/etc/udev/rules.d/) in the host machine, see chapter [6. Linux operating system ---- 6. Bind device ID]

2. Then when opening the container, mount the devices with the rules set into the docker container through --device=/dev/myserial --device=/dev/rplidar and other parameters.

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docker run -it --device=/dev/myserial --device=/dev/rplidar ubuntu:latest /bin/bash

3. The device can be found in the docker container

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jetson@ubuntu:~$ docker images
REPOSITORY TAG IMAGE ID CREATED SIZE
ubuntu 1.0 78ca7be949b6 About an hour ago 69.2MB
pengan88/ubuntu 1.0 78ca7be949b6 About an hour ago 69.2MB
yahboomtechnology/ros-foxy 3.4.0 49581aa78b6b 6 hours ago 24.3GB
yahboomtechnology/ros-foxy 3.3.9 cefb5ac2ca02 4 days ago 20.5GB
yahboomtechnology/ros-foxy 3.3.8 49996806c64a 4 days ago 20.5GB
yahboomtechnology/ros-foxy 3.3.7 8989b8860d17 5 days ago 17.1GB
yahboomtechnology/ros-foxy 3.3.6 326531363d6e 5 days ago 16.1GB
mysql latest 5371f8c3b63e 6 days ago 592MB
ubuntu latest bab8ce5c00ca 6 weeks ago 69.2MB
hello-world latest 46331d942d63 13 months ago 9.14kB
jetson@ubuntu:~$ ll /dev | grep ttyUSB*
lrwxrwxrwx 1 root root 7 Apr 23 18:07 myserial -> ttyUSB0
lrwxrwxrwx 1 root root 7 Apr 23 18:07 rplidar -> ttyUSB1
crwxrwxrwx 1 root dialout 188, 0 Apr 23 18:07 ttyUSB0
crwxrwxrwx 1 root dialout 188, 1 Apr 23 18:07 ttyUSB1
jetson@ubuntu:~$ docker run -it --device=/dev/myserial --device=/dev/rplidar ubuntu:latest /bin/bash
root@03522257ba30:/# ls /dev # There are already myserial and rplidar in docker
console fd full mqueue myserial null ptmx pts random rplidar shm stderr stdin stdout tty urandom zero

4.2. Display of GUI in docker

1. Install on the host machine:

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sudo apt-get install tigervnc-standalone-server tigervnc-viewer
sudo apt-get install x11-xserver-utils

2. Execute in the host machine: xhost +

After the following picture is displayed normally, perform 3 steps:

3. Execute the command on the host to enter the container:

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docker run -it \ # Interactively run the docker image
--env="DISPLAY" \ # Turn on the display GUI interface
--env="QT_X11_NO_MITSHM=1" \ # Use X11 port 1 for display
-v /tmp/.X11-unix:/tmp/.X11-unix \ # Map display service node directory
yahboomtechnology/ros-foxy:3.3.9 # The name of the image to be started
/bin/bash # Execute the /bin/bash command within the container

4. Test

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Execute in container: rviz2

4.3. Transfer files between docker container and host machine

4.3.1. Use cp naming

4.3.1.1. Copy files from the container to the host

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# Order
docker cp container id: path within the container destination host path

# test
# Execute within the container and create a file test
jetson@ubuntu:~$ docker ps -a
CONTAINER ID IMAGE COMMAND CREATED STATUS PORTS NAMES
c54bf9efae47 ubuntu:latest "/bin/bash" 2 hours ago Up 9 minutes funny_hugle
3b9c01839579 hello-world "/hello" 3 hours ago Exited (0) 3 hours ago jovial_brown
jetson@ubuntu:~$ docker attach c5
root@c54bf9efae47:/# ls
bin boot dev etc home lib media mnt opt proc root run sbin srv sys tmp usr var
root@c54bf9efae47:/# cd
root@c54bf9efae47:~# ls
root@c54bf9efae47:~# touch test.txt
root@c54bf9efae47:~# ls
test.txt
root@c54bf9efae47:~# pwd
/root
root@c54bf9efae47:/# read escape sequence #Press ctrl+P+Q to exit the container without stopping.
jetson@ubuntu:~$ docker cp c54bf9efae47:/root/test.txt ~/
jetson@ubuntu:~$ ls # The test.txt file has been copied in
Desktop Documents Downloads fishros Music openvino Pictures Public rootOnNVMe run_docker.sh sensors snap temp Templates test.txt Videos

4.3.1.2. Copy files from the host to the container

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# Order
docker cp host file path container id: path within the container

#test
jetson@ubuntu:~$ docker ps -a
CONTAINER ID IMAGE COMMAND CREATED STATUS PORTS NAMES
c54bf9efae47 ubuntu:latest "/bin/bash" 2 hours ago Up 5 minutes funny_hugle
3b9c01839579 hello-world "/hello" 3 hours ago Exited (0) 3 hours ago jovial_brown
jetson@ubuntu:~$ ls
Desktop Documents Downloads fishros Music openvino Pictures Public rootOnNVMe run_docker.sh sensors snap temp Templates test.txt Videos
jetson@ubuntu:~$ touch 11.txt
jetson@ubuntu:~$ ls
11.txt Desktop Documents Downloads fishros Music openvino Pictures Public rootOnNVMe run_docker.sh sensors snap temp Templates test.txt Videos
jetson@ubuntu:~$ docker cp 11.txt c54bf9efae47:/root/
jetson@ubuntu:~$ docker attach c5
root@c54bf9e