Mastering Docker and ROS for RoboClaw — Key Tips and Workflows¶
Integrating Docker and ROS for robotics projects—especially when using RoboClaw motor controllers—can feel complex at first. However, mastering a few key workflows will make your setup efficient, reproducible, and portable. This post provides a clean, step-by-step approach to saving your Docker environments, managing terminals, enabling Bluetooth and port access, and running ROS nodes for teleoperation with an Xbox controller.
🧠 Key Topics Covered¶
- Saving Docker containers for future use
- Opening multiple terminals in a running container
- Running containers with Bluetooth and port access
- Setting up and using a ROS workspace inside Docker
- Debugging common integration and device issues
1. Saving Docker Containers¶
🧩 Why Save Containers?¶
- Prevents loss of your setup when a container is stopped or removed.
- Makes it easy to recreate environments or share them with teammates.
💾 Steps to Save a Container¶
- Stop the container:
sudo docker stop <container_name>
- Commit the container to an image:
sudo docker commit <container_id> <new_image_name>
- Verify that the image was saved:
sudo docker images
Example:
sudo docker commit 96a9ad78d1e6 ros_noetic_with_rviz
This captures your current container as a reusable image named ros_noetic_with_rviz.
2. Opening a New Terminal in a Running Container¶
💡 Why Do This?¶
Opening additional terminals inside a running container allows you to:
- Manage multiple ROS nodes simultaneously.
- Debug or monitor processes without interrupting running nodes.
⚙️ Steps¶
- List running containers:
sudo docker ps
- Attach a new terminal:
sudo docker exec -it <container_name> /bin/bash
Example:
sudo docker exec -it ros_rviz_container /bin/bash
Now you can run additional commands like roscore or launch nodes from this new terminal.
3. Running Containers with Bluetooth and Port Access¶
🔌 Why Use These Flags?¶
Robotics often requires direct hardware access—Bluetooth modules, Xbox controllers, or serial ports. These flags grant the necessary privileges and connections.
🧭 Example Command¶
sudo docker run -it --name roboclaw_v02 \
--net=host \
--privileged \
--device=/dev/input/js0:/dev/input/js0 \
--device=/dev/input/event0:/dev/input/event0 \
-v /var/run/dbus:/var/run/dbus \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-e DISPLAY=$DISPLAY \
roboclaw_v02
🛠️ Explanation of Flags¶
--net=host— Enables communication with the host’s network stack (important for ROS topics).--privileged— Grants full access to host devices (e.g., serial ports, Bluetooth).--device— Maps physical devices (joysticks, controllers, etc.) into the container.-v— Mounts host directories required for GUI or device communication.-e DISPLAY=$DISPLAY— Enables X11 display forwarding for GUI tools like RViz.
4. Setting Up a ROS Workspace in Docker¶
🧠 Why Mount a Workspace?¶
A mounted workspace keeps your ROS source code synchronized between your host and container. You can edit code locally while executing ROS commands in Docker.
⚙️ Steps¶
Run your container with a mounted workspace:
sudo docker run -it --name <container_name> \
-v ~/ros_noetic_ws:/root/ros_noetic_ws \
<base_image>
Inside the container:
cd ~/ros_noetic_ws
catkin_make
source devel/setup.bash
Your workspace is now active and ready for ROS development.
5. Running ROS Nodes and Debugging¶
🧩 Starting roscore¶
Attach to the container:
sudo docker exec -it <container_name> /bin/bash
Start ROS master:
roscore
🚀 Running a ROS Node¶
Source the workspace:
source ~/ros_noetic_ws/devel/setup.bash
Run your node:
rosrun roboclaw_node xbox_teleop_odom.py
This setup enables Xbox controller input for teleoperation or differential drive testing with RoboClaw motor controllers.
6. Debugging Common Issues¶
❌ Problem: “Master Not Found”¶
Solution:
Ensure roscore is running inside the same container as your nodes.
⚠️ Problem: “Device Not Found”¶
Solution: Verify the input device mapping:
ls /dev/input/js0
If missing, double-check your --device flag during container startup.
🔍 Problem: “ROS_PACKAGE_PATH Missing”¶
Solution: Add your workspace path manually:
export ROS_PACKAGE_PATH=/root/ros_noetic_ws/src:$ROS_PACKAGE_PATH
🚀 Conclusion¶
By mastering these Docker and ROS workflows, you can streamline RoboClaw-based robotics development—from running teleoperation scripts to debugging complex ROS nodes. Saving your containers, enabling peripheral access, and maintaining synchronized workspaces ensures a clean, reproducible environment for your robotics stack.
Whether you’re testing on a prototype rover or deploying on a production robot, this workflow minimizes setup friction so you can focus on innovation, not configuration.
Happy Robotics! 🤖