PXL ROS2 Jazzy Docker Image with KasmVNC

This repository provides a Docker container for ROS2 Jazzy that includes KasmVNC, allowing users to access the Xfce desktop environment via HTTPS for running simulations and other ROS2 applications.

Features

• Ubuntu 24.04 Docker container with ROS2 Jazzy pre-installed.
• KasmVNC for desktop access within the container.
• Xfce Desktop accessible via port 6901. (https://localhost:6901 user: kasm_user password: password.)
• Scripts to build, run, attach, stop, and remove the container and image.

Requirements

• Docker installed on your system (Install Docker).
• Recommended: NVIDIA GPU with drivers and NVIDIA Container Toolkit for hardware acceleration (optional).

Files in Repository

File	Description
pxl_ros2_jazzy_image	Directory containing Docker image files.
001_build_pxl_ros2_jazzy_image.sh	Builds the Docker image.
002_run_pxl_ros2_jazzy_container.sh	Runs the container from the built image.
003_attach_bash_to_pxl_ros2_jazzy_container.sh	Opens a Bash shell inside the running container.
997_stop_pxl_ros2_jazzy_container.sh	Stops the running container.
998_remove_pxl_ros2_jazzy_container.sh	Removes the stopped container.
999_remove_pxl_ros2_jazzy_image.sh	Removes the built Docker image.

Installation & Usage

1. Clone the Repository

git clone https://github.com/PXLAIRobotics/ROS2JazzyDocker.git
cd ROS2JazzyDocker

2. Build the Docker Image

./001_build_pxl_ros2_jazzy_image.sh

3. Run the Docker Container

./002_run_pxl_ros2_jazzy_container.sh

4. Access the Container via Bash

./003_attach_bash_to_pxl_ros2_jazzy_container.sh

5. Stop the Container

./997_stop_pxl_ros2_jazzy_container.sh

6. Remove the Container

./998_remove_pxl_ros2_jazzy_container.sh

7. Remove the Docker Image

./999_remove_pxl_ros2_jazzy_image.sh

Accessing the Desktop Environment

After running the container, you can access the KasmVNC desktop by opening a web browser and navigating to:

https://localhost:6901

Default login credentials:

• Username: kasm_user
• Password: password

Testing ROS2

To verify that ROS2 Jazzy is running correctly, follow these steps:

Open a terminal by clicking the Applications menu in the top left corner and selecting Terminal Emulator.

Run the following command to start an example ROS 2 node:

ros2 run example_package example_node

If everything is set up correctly, you should see output similar to:

Hi from example_package.

This confirms that ROS 2 is properly installed and functional within the container.

Showcase

Below are screenshots showcasing the usage of this ROS 2 Jazzy Docker container:

Ubuntu Desktop

Running ROS 2 Simulation

OpenCV Example

Customization

• Modify the Dockerfile in pxl_ros2_jazzy_image to add additional dependencies.
• Update the scripts to configure network settings, volumes, or GPU access.

Contributing

Feel free to fork this repository and submit pull requests for improvements or additional features.

License

This project is licensed under the MIT License - see the LICENSE file for details.

Third-Party Code Attribution

This project includes code from third-party sources:

• Kasm Technologies
  • The src/ directory in pxl_ros2_jazzy_image/ is a direct copy from Kasm Technologies' repository.
  • Portions of Kasm Technologies' code are also used in the Dockerfile with modifications.
  • Their original MIT license is retained in pxl_ros2_jazzy_image/src/LICENSE.

All third-party code follows their respective licenses.

Author

Maintained by Tim Dupont (GitHub Profile).

Acknowledgments

Special thanks to:

• Kasm Technologies for developing KasmVNC, enabling seamless remote desktop access.
• Open Source Robotics Foundation (OSRF) for their continued work on ROS2.
• Intel, Willow Garage, Itseez, and the OpenCV community for developing and maintaining OpenCV, a powerful computer vision library widely used in robotics and AI.
• Canonical for maintaining Ubuntu, the foundation of this Docker container.
• The broader open-source communities that contribute to these technologies and make innovation possible.