panther-docker

Docker images dedicated to Husarion Panther ROS system and simulation.

Docker Images

Docker images are automatically deployed to Docker Hub. The image tag includes information about the ROS distribution, the version of the panther_ros repository, and the date of release. Additionally, stable image versions are tagged with stable and recommended for production use. Below, you can find a list of available Docker images. To access the latest tag, simply follow the provided links:

• husarion/panther - ROS packages for Panther robot,
• husarion/panther-gazebo - Simulation for Panther robot in Gazebo-classic.

Updating Panther Software

Note

Latest Panther Docker images are compatible with Built-in Computer OS version 2.0.0 and newer. If your operating system is older, please ensure you update it before proceeding. [COMING SOON] Follow operating system reinstallation for more info.

Connect to Panther's Built-in Computer:

ssh [email protected]

Quick Start

Depending on your needs, you can run Docker to quickly launch the physical robot or run a simulation. To do this, clone this repository to your robot or computer.

git clone -b ros2 https://github.com/husarion/panther-docker.git
cd panther-docker/demo

🤖 Robot

1. Activate Panther

   docker compose -f compose.minimal-setup.yaml up

2. Launch Visualization on PC

   xhost local:root
   docker compose -f compose.rviz.yaml up

Note

To use the latest version of the image, run the docker compose pull command and rerun above commands.

💻 Gazebo Simulation

To give Docker access to your screen run:

xhost local:docker
docker compose -f compose.simulation.yaml up

Note

1. You can change robot model and namespace by editing the launch command in compose.simulation.yaml.
2. If you have an NVIDIA GPU, it is worth changing the compose configuration from cpu-config to gpu-config. For this purpose, it is necessary to install NVIDIA Container Toolkit. With NVIDIA Container Toolkit installed, modify following Docker compose file by replacing *cpu-config with *gpu-config: compose.simulation.yaml.