A vnc-ros-gnome image with HA enabled

Main components

• GNOME Desktop
• ROS Noetic
• TigerVNC server
• VirtualGL

Inspired by:

• https://github.com/darkdragon-001/Dockerfile-Ubuntu-Gnome
• https://github.com/wwwshwww/novnc-ros-desktop
• https://github.com/willkessler/nvidia-docker-novnc
• https://github.com/Open-UAV/openuav-turbovnc

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Clone recursively, project uses existing robotont software

git clone --recursive {REPO-URL}

Requirements

• Docker & docker-compose(1.28.0+)

For HA:

• Nvidia GPU with the appropriate drivers
• nvidia-docker-runtime (comes with nvidia-docker2)

 

Setup

Building the image

1. docker build -t robotont:base .

Running the container

1. Change the extra-hosts directive in the docker-compose.yaml to your robot's hostname and IP address (e.g. "robotont-7:192.168.0.39")

2. docker-compose up

   Check VNC server status with: docker exec robo-1 systemctl status tigervnc@:2

   If it seems to be dead, start it up with: docker exec robo-1 systemctl start tigervnc@:2

3. The VNC server is running on port 5902, connect to it with any VNC client you have (pw: remrob). All the ports of the container are shared with the host in the "host" network mode. The Nvidia GPU graphics are being tunneled through host's DISPLAY :1.

Customizing the gnome GUI

Replace the user binary file with your custom binary (found at ~/.config/dconf/user) and rebuild

!NB! Preserve or don't forget to add vglrun /bin/bash as the custom command in your profile, so everything automatically pipes through VirtualGL

 

  

Acknowledgments

Completed with the support by IT Academy Programme of Education and Youth Board of Estonia.

Valminud Haridus- ja Noorteameti IT Akadeemia programmi toel.