Container Image

Cloud Desktop Container uses a custom docker image. The Dockerfile is located here.

Internals

Components

There are 3 main components in the container image,

VNC server paired with a NoVNC server
VSCode server
Tailscale client

Defaults

Catkin Workspace: /my_ros_data/catkin_ws

Ports:

novnc 80
vnc 5900
vscode 8080

Layers

The current container image is structured this way:

Layers

cosi119/tb3-ros - Installs ROS melodic and ROS packages - Installs custom packages used in class, like prrexamples

cosi119/ubuntu-desktop-lxde-vnc - Provides a Ubuntu image with novnc and lxde preconfigured. - Provides a CUDA enabled variant (image with -cuda tag suffix)

Process Management

Supervisord

Each of the components are managed by a process control system called supervisord. Supervisor is responsible for spawning and restarting these components. For detailed configs, see supervisord.conf.

Modifing startup processes

Modify the supervisord.conf under tb3-ros/tb3-ros/files/supervisor/supervisord.conf.

Packages

Default packages

As of version 2.1.1,

turtlebot3_msgs
turtlebot3
turtlebot3_simulations
https://github.com/campusrover/prrexamples
https://github.com/campusrover/gpg_bran4

Adding a new package

To add a package to the default catkin workspace, modify the Dockerfile under tb3-ros/tb3-ros/Dockerfile:

# Add the following lines
WORKDIR /my_ros_data/catkin_ws/src
RUN git clone --recursive --depth=1 https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

Github repo

pitosalas/tb3-ros