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ROSCon 2025 ros2_control Workshop

Docker

Prerequisite

1. Install docker compose.

2. On the host computer download and install VS Code

3. Open VS Code and install the PlatformIO Extension

Docker Build

1. Clone this repo and navigate to the directory <path of cloned repo>/zehoh_host

2. Build the Docker image with: docker compose build

Docker Run

1. To run applications that have a GUI inside Docker (i.e. Rviz or Plotjuggler) we have to allow access to the screen by running: xhost + on the host PC once per machine startup.

2. To start the container run: docker compose up -d

3. To open an interactive shell to the running container run: docker exec -it ros2_control_roscon25 bash

Task 1:

Sine Wave Twist Publisher

Task 2:

Scenario

What to focus on

Running the example