Run UR5e Robot on ROS2 Humble Using Docker

This README provides a streamlined setup process for running a UR5e robot (the ones available in our lab) using ROS2 Humble and Docker.

Prerequisites

Before you begin, ensure you have the following installed:

• Docker
• Docker Compose

Setup Instructions

1. Create a Directory to store this repository

2. Clone the Repository

   git clone <repository-url>
   cd <repository-directory>
   

3. Build the Docker Containers
   When running for the first time, build the necessary Docker containers. From the cloned repository directory, execute:

   docker compose build
   

   This process may take approximately 20 minutes.

4. Run the System Note: If you encounter the following error message:

   Error response from daemon: failed to create task for container: failed to create shim task: OCI runtime create failed: runc create failed: unable to start container process: exec: "/entrypoint.sh": permission denied: unknown
   

   Resolve this by making the entrypoint scripts executable. Navigate to the directory containing the entrypoint files and run:

   chmod +x entrypoint.sh devel_entrypoint.sh
   

   After adjusting the permissions, repeat Steps 3 and 4. The startup process should complete more quickly this time.