arms_ws Docker image

Extends Crobotic's arm_api2 tutorial base image (CroboticSolutions/docker_files) -- the exact image this dev container was originally built from -- with every other package added to this workspace since: fanuc_description, fanuc_driver, fanuc_gazebo, ros2_robotiq_gripper, the UR ROS 2 stack, ros_plc_sim, idustrial_demo_gui, ros_gui_bridge, serial, and plc_bridge (nested inside plc-ros2-bridge).

All repos are cloned fresh from GitHub at build time, at the branch each one is currently on. Two repos are private: ros_gui_bridge, and arm_api2 itself -- the crx-integration branch lives on bb53192's private fork, not the public CroboticSolutions/arm_api2 upstream. Everything else is public.

Build

Requires Docker BuildKit (for SSH-agent forwarding into the build, needed to clone the two private repos).

ssh-add -l                      # make sure a key with access to both private repos is loaded
DOCKER_BUILDKIT=1 docker build --ssh default -t arms_ws:latest .

Run (with GUI)

run_docker.sh mirrors the original tutorial's run_docker.sh: --network host --privileged --gpus all, /dev and the X11 socket mounted, and your SSH_AUTH_SOCK forwarded in (so git/private-repo access still works from inside the running container, not just at build time).

xhost +local:docker             # allow the container to open windows on your X server
./run_docker.sh

ROS 2 + the workspace are sourced automatically via .bashrc (matching how the original image does it), so things just work in any shell you open in the container, e.g.:

ros2 launch fanuc_gazebo r2000_gz_sim_moveit.launch.py

Notes

• Base: Ubuntu 24.04 (Noble) + ROS 2 Jazzy desktop-full + Gazebo Harmonic (via ros-jazzy-ros-gz-*) + MoveIt (Servo, Visual Tools, Pilz LIN/PTP/ CIRC planner) + ros2_control/gz_ros2_control + rqt_joint_trajectory_controller (used for manually teaching joint waypoints) + xterm (keyboard servo teleop).
• plc_bridge is not its own top-level repo -- it lives inside bb53192/plc-ros2-bridge at arms_ws/src/plc_bridge and is symlinked into this workspace's src/, matching the layout on the original machine.
• asyncua (OPC UA) and pymodbus (Modbus) are installed via pip for the PLC bridge; everything else comes from rosdep install.
• arm_api2 is pinned to crx-integration here (this workspace's current branch), not the tutorial image's original apirsic/devel.
• Uncommitted local-only changes that existed only in the working tree on the original machine (small tweaks in Universal_Robots_ROS2_Driver, ros_plc_sim/scripts/color_classifier.py, and plc_bridge/plc_bridge/bridge_node.py) are not captured here -- only what was committed and pushed. Commit/push those first if you want them included.
• Each build re-clones everything at the pinned branch's current HEAD -- there's no incremental/cached rebuild story here.