docker-ur5-ros

This repository contains a docker image for running ur5

How to pull

Open a terminal and run the following command

docker pull ghcr.io/olivianocentini/docker-ur5-ros:latest

How to create a container

This command is required to create a container (only once)

xhost +
docker run -it \
           --volume=/tmp/.X11-unix:/tmp/.X11-unix \
           --device=/dev/dri:/dev/dri \
           --env="DISPLAY=$DISPLAY" \
           --name=ur5-ros-container \
           ghcr.io/olivianocentini/docker-ur5-ros 

This will also open a bash session.

How to start a container

Every time you want to use the container you should run (at beginning) the following command

docker start ur5-ros-container

How to start a terminal

Once the container is running (see the previous section) you can start a terminal with the following command

docker exec -it ur5-ros-container bash

You can finally follow this guide to enable the realtime control in UR5 https://ros-planning.github.io/moveit_tutorials/doc/realtime_servo/realtime_servo_tutorial.html