How to Set Up MoveIt 2 Docker Containers in Ubuntu
This guide will provide a walkthrough on how to get a Docker container with MoveIt 2 dependencies set up quickly. It includes a docker-compose config file that will get you up and running in MoveIt quickly! This guide is intended for people who would like to have a separate environment for working with MoveIt up and running quickly without having to do much configuring. In this guide, we will be setting up a ROS2 Rolling environment.
Learning Objectives
How to use
docker compose
to run MoveIt 2 Docker containers and tutorials
Requirements
Steps
Install Docker and docker compose (links are available in the Requirements section) and be sure to follow the Linux Post Install instructions. If you do not complete these additional steps you will need to preface all
docker
commands withsudo
.Open a terminal session and download docker-compose.yml
wget https://raw.githubusercontent.com/moveit/moveit2_tutorials/main/.docker/docker-compose.yml
Launch the container (you may need to hyphenate
docker-compose
if using compose V1)DOCKER_IMAGE=rolling-tutorial docker compose run --rm --name moveit2_container gpu
You can replace
rolling-tutorial
with other tagged images, e.g.humble-tutorial
. Similarly, you can replacegpu
withcpu
if you do not wish to run using Nvidia GPU drivers and you can change the name of the container by replacingmoveit2_container
. The--rm
argument will remove the container when you stop (or exit) it, otherwise you can keep your modified container on disk and start it usingdocker start moveit2_container
You should now be inside of your Docker container, in the workspace directory, with the completed Planning Around Objects and Pick and Place with MoveIt Task Constructor tutorials. Go ahead and try one of the launch commands like
ros2 launch moveit2_tutorials demo.launch.py
If you wish to enter the container through another terminal, use:
docker exec -it moveit2_container /bin/bash
Further Reading
For more information about Docker best practices with respect to MoveIt, refer to this blog post from PickNik’s Vatan Aksoy Tezer and Brennard Pierce.
There are tagged images for both
rolling
andhumble
which are built on top of therolling-source
andhumble-source
MoveIt 2 Docker images here.You can find more tagged images for MoveIt 2 Docker containers here. The tagged images coincide with ROS2 version releases. The
release
version of the container provides an environment in which MoveIt 2 is installed via the binaries. Thesource
version of the Docker image will build MoveIt 2 from source. You can use any of these images by substituting the DOCKER_IMAGE environment variable with a tag name from the above link (likerolling-source
), but you must use this docker-compose.yml instead (simply copy it to a different location and run yourdocker compose
command there).