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@@ -76,7 +76,6 @@ The ROS runtime "graph" is a peer-to-peer network of processes (potentially dist
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## Deployment example
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-**NOTE:** This requires the experimental version of Docker for future networking features.
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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.
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### Build image
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@@ -111,8 +110,8 @@ $ docker build --tag ros:ros-tutorials .
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> To create a container for the ROS master and advertise it's service:
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```console
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-$ docker run -it --rm\
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- --publish-service=master.foo \
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+$ docker run -it --rm \
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+ --net foo \
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--name master \
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ros:ros-tutorials \
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roscore
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@@ -121,11 +120,11 @@ $ docker run -it --rm\
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> 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:
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```console
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-$ docker run -it --rm\
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- --publish-service=talker.foo \
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+$ docker run -it --rm \
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+ --net foo \
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+ --name talker \
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--env ROS_HOSTNAME=talker \
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--env ROS_MASTER_URI=http://master:11311 \
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- --name talker \
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ros:ros-tutorials \
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rosrun roscpp_tutorials talker
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```
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@@ -133,11 +132,11 @@ $ docker run -it --rm\
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> Then in another terminal, run the `listener` node similarly:
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```console
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-$ docker run -it --rm\
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- --publish-service=listener.foo \
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+$ docker run -it --rm \
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+ --net foo \
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+ --name listener \
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--env ROS_HOSTNAME=listener \
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--env ROS_MASTER_URI=http://master:11311 \
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- --name listener \
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ros:ros-tutorials \
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rosrun roscpp_tutorials listener
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```
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@@ -189,6 +188,63 @@ $ docker stop master talker listener
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$ docker rm master talker listener
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```
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+### Compose
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+
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+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/)\.
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+
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+> 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:
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+
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+```yaml
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+master:
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+ build: .
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+ container_name: master
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+ command:
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+ - roscore
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+
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+talker:
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+ build: .
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+ container_name: talker
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+ environment:
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+ - "ROS_HOSTNAME=talker"
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+ - "ROS_MASTER_URI=http://master:11311"
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+ command: rosrun roscpp_tutorials talker
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+
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+listener:
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+ build: .
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+ container_name: listener
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+ environment:
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+ - "ROS_HOSTNAME=listener"
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+ - "ROS_MASTER_URI=http://master:11311"
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+ command: rosrun roscpp_tutorials listener
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+```
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+
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+> Now from inside the same folder, use docker-copose to launch our ROS nodes and specify that they coexist on their own network:
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+
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+```console
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+$ docker-compose --x-networking up -d
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+```
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+
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+> Notice that a new network named `rostutorials` has now been created, you can inspect it further with:
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+
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+```console
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+$ docker network inspect rostutorials
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+```
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+
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+> We can monitor the logged output of each service, such as the listener node like so:
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+
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+```console
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+$ docker-compose logs listener
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+```
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+
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+> Finally, we can stop and remove all the relevant containers using docker-copose from the same directory:
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+
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+```console
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+$ docker-compose stop
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+$ docker-compose rm
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+```
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+
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+> 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/)\.
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+
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# More Resources
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[ROS.org](http://www.ros.org/): Main ROS website
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Docker Library Bot