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By Kevin McAleer, 3 Minutes
To get the ROS visualisation tool rviz2 to work in our docker container we need to redirect any graphics calls to outside our container into the hostsās X11 environment.
rviz2
X11 is a software package developed by the Massachusetts Institute of Technology (MIT) in the 1980s that enables graphical user interfaces (GUIs) to be created and used on Unix-based systems. It works by using a network protocol called the X Window System Protocol to communicate between the server and the client. The server is responsible for managing the user interface, while the client is responsible for displaying the user interface. The X11 protocol is used to send commands from the server to the client, which are then interpreted by the client and used to generate the output.
X11
X11 is used by many popular operating systems, including Linux, Mac OS X, and Windows.
To redirect any X11 display commnds from within the docker container runnign ROS2, to outside the container (our Raspberry Pi 4 OS), we need to do two things:
xhost
export
DISPLAY
xhost local:root
environment: - display
The full docker-compose.yml file should now look like this:
version: "3.9" services: ros2: build: . network_mode: host volumes: - /home/kev/ros:/home/ros - /home/kev/cubie-1:/ros2 devices: - /dev/ttyUSB0:/dev/ttyUSB0 tty: true environment: - DISPLAY
Now that we have updated our docker-compose file we need to bring the new container online; docker-compose has a simple command for this called up:
up
docker-compose up -d
Note the -d parameter means run the container disconected. If you donāt include this, the terminal will run the container and all the container output will display on this terminal, but it will also quick should the terminal session end.
-d
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