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Docker-related material to setup, configure and develop with micro-ROS hardware.

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# micro-ROS Dockers

This repository contains Docker-related material aimed at setting up, configuring and developing a [micro-ROS](https://microros.github.io/)-based application.

This set of Dockerfiles provides ready-to-use environments to easily execute micro-ROS examples in your host machine, as well as to use the standalone [micro-ROS build system](https://github.com/micro-ROS/micro_ros_setup).
In addition, two images are provided that allow using micro-ROS as an external library, both in [ESP-IDF](https://github.com/micro-ROS/micro_ros_espidf_component/tree/main/docker).

The Docker images can be found at [dockerhub](https://hub.docker.com/u/microros).

The available images are listed below:

| Image                            | Description                                                                                                                     |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Status |
| -------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
| base                             | Base image with a ROS 2 installation + micro-ROS specific build system tools. | [![Version](https://img.shields.io/docker/v/microros/base/humble?logo=docker)](https://hub.docker.com/r/microros/base/tags?page=1&name=humble) [![Version](https://img.shields.io/docker/v/microros/base/jazzy?logo=docker)](https://hub.docker.com/r/microros/base/tags?page=1&name=jazzy) [![Version](https://img.shields.io/docker/v/microros/base/kilted?logo=docker)](https://hub.docker.com/r/microros/base/tags?page=1&name=kilted) [![Version](https://img.shields.io/docker/v/microros/base/rolling?logo=docker)](https://hub.docker.com/r/microros/base/tags?page=1&name=rolling)                                                                                                                    |
| micro-ros-agent                  | Image containing a pre-compiled micro-ROS-Agent, ready to use as a standalone application                                      | [![Version](https://img.shields.io/docker/v/microros/micro-ros-agent/humble?logo=docker)](https://hub.docker.com/r/microros/micro-ros-agent/tags?page=1&name=humble) [![Version](https://img.shields.io/docker/v/microros/base/jazzy?logo=docker)](https://hub.docker.com/r/microros/micro-ros-agent/tags?page=1&name=jazzy) [![Version](https://img.shields.io/docker/v/microros/micro-ros-agent/kilted?logo=docker)](https://hub.docker.com/r/microros/micro-ros-agent/tags?page=1&name=kilted) [![Version](https://img.shields.io/docker/v/microros/micro-ros-agent/rolling?logo=docker)](https://hub.docker.com/r/microros/micro-ros-agent/tags?page=1&name=rolling)                                                                        |
| micro_ros_static_library_builder | Allows to use a pre-compiled micro-ROS library to develop applications using external environments, such as Arduino IDE                                       | [![Version](https://img.shields.io/docker/v/microros/micro_ros_static_library_builder/humble?logo=docker)](https://hub.docker.com/r/microros/micro_ros_static_library_builder/tags?page=1&name=humble) [![Version](https://img.shields.io/docker/v/microros/base/jazzy?logo=docker)](https://hub.docker.com/r/microros/micro_ros_static_library_builder/tags?page=1&name=jazzy) [![Version](https://img.shields.io/docker/v/microros/micro_ros_static_library_builder/kilted?logo=docker)](https://hub.docker.com/r/microros/micro_ros_static_library_builder/tags?page=1&name=kilted) [![Version](https://img.shields.io/docker/v/microros/micro_ros_static_library_builder/rolling?logo=docker)](https://hub.docker.com/r/microros/micro_ros_static_library_builder/tags?page=1&name=rolling)    |
| micro-ros-demos                  | Contains pre-compiled micro-ROS demo applications, ready to use to get a taste of micro-ROS capabilities (**discontinued**)                       | [![Version](https://img.shields.io/docker/v/microros/micro-ros-demos/foxy?logo=docker)](https://hub.docker.com/r/microros/micro-ros-demos/tags?page=1&name=foxy)                                                                    |
| micro-ros-olimex-nuttx           | Contains a ready to flash example for  Olimex STM32 E407 (**discontinued**)                                                                      |  [![Version](https://img.shields.io/docker/v/microros/micro-ros-demos/dashing?logo=docker)](https://hub.docker.com/r/microros/micro-ros-demos/tags?page=1&name=dashing)                                          |
| esp-idf-microros                 | Allows to use micro-ROS as a component of the ESP-IDF build system  (**discontinued**)                                                            | [![Version](https://img.shields.io/docker/v/microros/esp-idf-microros/latest?logo=docker)](https://hub.docker.com/r/microros/esp-idf-microros/tags?page=1&name=latest)                                                                    |

![](http://www.plantuml.com/plantuml/svg/VP71JiCm38RlUGfhzsXtn65lW0GFC6M9kreqpMHdWaeyF6v26b3HRlRt_wxzDoV9ZlCzJiQC510yiP-mrXXlUO68yO8incJA4q8apyc-lhn1IFuT6IYwAmgCXEpOZuinVd8YS42vCOhGSAGm7C09RAHPECdJa3wNece3JIXR51mlJh1RrcvdgHTfPVMGENTtQH_O0yRV-qlxl_sirTbnkDES-i0Fs8reJAkHRGDzGYaOemYUlsn87xCjaHfXkexPRjzTfMwiQVwoUlBsMxjG5vrm3klJVWC0)

## Pre-requisites

You need to have **Docker** in your system.
For installing Docker, refer to the official documentation at https://www.docker.com/.

## Usage

To get an image, use the `docker pull` command:

* e.g. `docker pull microros/base`

You can select the preferred tag by appending `:tag` to the image name

* e.g. `docker pull microros/base:kilted`

Once you have the image locally, type `docker run` to start it. It is not mandatory, although usually useful, to launch your containers using the `--rm` and `--net=host` flags:

* e.g. `docker run -it --rm --net=host microros/micro-ros-agent:kilted`

`--rm` makes sure that the docker image will be removed after exiting.
`--net=host` provides the container with the same network access as the host.
`-it` allocates a pseudo-TTY for you and keeps stdin listening.
Another used command is `-v` to map local files with docker container ones.
`-v` is useful in case you may want to flash boards from within a Docker container.

#### base image

It is the base for the rest of the containers.
It contains the necessary micro-ROS setup tools and dependencies.
From this image, you can start any development targeting micro-ROS.

#### micro-ros-agent

This image is meant to be used as a stand-alone application.
It includes the installation of the ROS 2 version selected by the tag selected, together with a micro-ROS Agent.
The entry point of this image is directly the micro-ROS Agent, so upon execution of `docker run` you will be facing the micro-ROS Agent command line input. Running:

* e.g. `docker run -it --net=host microros/micro-ros-agent:kilted udp4 -p 9999`

will start a micro-ROS Agent listening to UDP messages on port 9999.

#### micro-ros-demos

`micro-ros-demos` is one of the example images.
With this image, you can launch example applications using micro-ROS (compiled for Linux machines).
This image entry point has a ROS 2 environment set up with micro-ROS examples.
You can run regular ROS 2 tools to launch the examples.

* eg: `docker run -it --net=host microros/micro-ros-demos bash`

The currently available examples are listed [here](https://github.com/micro-ROS/micro-ROS-demos/rclc).

#### micro-ros-olimex-nuttx (unmaintained)

This image provides you with a ready-to-flash firmware for Olimex-STM32-E407 boards with demos included.
To be able to flash, you need to map your devices to the Docker container as follows:

* e.g. `docker run -it --privileged -v /dev/bus/usb:/dev/bus/usb microros/micro-ros-olimex-nuttx:kilted`

Once inside the container, you can flash the board by running `scripts/flash.sh` from the `firmware/NuttX` directory.

There you can find a publisher and a subscriber examples.
Both examples use serial transport to communicate with a micro-ROS Agent, so you should start an Agent with the same transport (You can use the `micro-ros-agent` image to do so).
Once a Client-Agent communication is established you can use ROS 2 tools to view the publications from the Olimex or to publish messages to it.

#### micro_ros_static_library_builder

The `micro_ros_static_library_builder` docker image provides you with a set of include files and pre-compiled micro-ROS libraries to develop your micro-ROS application within the Arduino IDE environment.
To be able to use it, use the following command to instantiate a container of this image:

* e.g. `docker run -it -v $(pwd):/arduino_project --net=host microros/micro_ros_static_library_builder:kilted`.

Note that folders added to `extras/library_generation/extra_packages` and entries added to `extras/library_generation/extra_packages/extra_packages.repos` will be taken into account by this build system.

#### esp-idf-microros

This Docker image allows you to use micro-ROS as a component of the ESP-IDF build system.

To use it:

* e.g. `docker run -it --user espidf --volume="/etc/timezone:/etc/timezone:ro" -v  $(pwd):/micro_ros_espidf_component -v  /dev:/dev --privileged --workdir /micro_ros_espidf_component microros/esp-idf-microros:latest /bin/bash"`

Then, you can navigate to your example aplications and build it using the ESP IDF buildtool system script, `idf.py menuconfig/build/flash/monitor`.

## Automated builds

These Dockerfiles are used for automatically creating images on Docker Hub.
These builds are tagged with the ROS 2 version they will be compatible with: e.g. jazzy, rolling...
The latest tag will always correspond to the latest release of ROS 2.

These automatic builds have a direct relationship with the content of the micro-ROS repositories:

| Image                            | Triggers                                                                                           |
 | -------------------------------- | -------------------------------------------------------------------------------------------------- |
 | base                             | https://github.com/micro-ROS/micro-ROS-build                                                       |
 | micro-ros-agent                  | https://github.com/micro-ROS/micro-ROS-Agent <br> https://github.com/eProsima/Micro-XRCE-DDS-Agent |
 | micro-ros-demos                  | https://github.com/micro-ROS/micro-ROS-demos                                                       |
 | micro_ros_static_library_builder | https://github.com/micro-ROS/micro_ros_arduino                                                     |
 | esp-idf-microros                 | https://github.com/micro-ROS/micro_ros_espidf_component                                            |

Apart from GitHub repositories changes, a build can be triggered whenever the base image is updated on Docker Hub.
Base images are specified with the `FROM:` directive in the Dockerfile.

## Purpose of the Project

This software is not ready for production use. It has neither been developed nor
tested for a specific use case. However, the license conditions of the
applicable Open Source licenses allow you to adapt the software to your needs.
Before using it in a safety relevant setting, make sure that the software
fulfills your requirements and adjust it according to any applicable safety
standards, e.g., ISO 26262.

## License

This repository is open-sourced under the Apache-2.0 license. See the
[LICENSE](LICENSE) file for details.

For a list of other open-source components included in this repository,
see the file [3rd-party-licenses.txt](3rd-party-licenses.txt).

## Known Issues/Limitations

There are no known limitations.

If you find issues, [please report them](https://github.com/micro-ROS/micro_ros_setup/issues).

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