Docker images
The auKsys project provides up-to-date docker images at docker hub, with ROS and non-ROS variant. We also provide with a tool for conveniently run docker images.
With auksys
command (recommended)
Installation
The auksys
tool is implemented in Rust, most recent linux distribution provides it as a package, if not available check the official installation page.
On Ubuntu 24.04:
sudo apt install rustup
rustup default stable
After installation of rustup, the auksys
command can be installed with:
cargo install auksys
Usage
Documentation is provided as part of the command line interface:
auksys -h
ROS Node
The start
command is used to start a docker image. For instance to start a ROS node:
auksys start kdb/ros --name uav0
The name will be used as the ROS namespace. If no distribution is specified on the command line, auksys
will attempt to guess the best distribution, depending on the ROS_DISTRO
variable or will default to stable
.
Standalone kDB Store
A standalone store can be started with the following command:
start kdb/store --distribution dev/5 --web
It will start it with a web interface available on http://localhost:8888 . The flag --mqtt
can also be used to start the store with a MQTT interface:
start kdb/store --distribution dev/5 --mqtt
Note the kdb/store
option is available for stable
and dev/4
but with much more limited features.
As regular docker
Images
Here are the following images depending on the version of the auKsys distributions:
stable | dev/5 | legacy/4 | dev/4 | |
---|---|---|---|---|
non-ros | auksys/auksys | auksys/auksys:dev-5 | auksys/auksys:legacy-4 | auksys/auksys:dev-4 |
ros | auksys/ros_auksys | auksys/ros_auksys:dev-5 | auksys/ros_auksys:legacy-4 | auksys/ros_auksys:dev-4 |
Running the images require setting some environment variables, which are not fully documented. It is highly advise to use the auksys
tool to generate command lines to access that information, for instance, the following command will display the docker
line used to start the ros_kdb
node:
auksys start kdb/ros --name uav0 --echo-cmd
In particular, the images use the following environment variable:
HOST_UID
andHOST_GID
they should match the current user uid, so that mounted volume in the docker images can be read and write.