今回、成功した画面
ブラウザ（Chrome）でlocalhostのポート6080番にアクセスした画面です。
Google先生に聞いてみると、MacbookにROSを入れるのは、すごく骨が折れるらしい・・・
なら、Docekrコンテナの中でUbuntuやCentOSを立ち上げて、ROSをLinux環境で動かそう、と思い立ちました。
Dockerコンテナの中から、Macbook（ホストマシン）のwebカメラにもアクセスできるみたいですし・・・。
- Connect the webcam to Docker on Mac or Windows
- Windows環境でDockerコンテナにUSBウェブカメラを認識させてみる
- [Docker for Mac上のコンテナから、Mac上のアプリケーションに簡単に接続する方法] (https://qiita.com/Asayu123/items/ccfe4ccfc417ce57f445)
- Dockerのコンテナの中からホストOS上のプロセスと通信する方法
- macOS & Dockerで動作するリアルタイム画像認識デモ環境を作ってみた（１）
- DockerコンテナからUSBデバイスを利用する（MacOS）
事前準備
Docker for Macを入れる
（ ダウンロード元 ）
（ 必要な理由 ）
Dockerゲスト(コンテナ)OSにLinuxを利用したい場合、DockerホストOSはLinuxでなければならない。その為、Docker for MacではmacOS上に仮想マシンを用意し、その上に軽量のLinuxOSを動作させる。
Xquartzウィンドウを入れる
事前に、次のURLからdmgファイルをダウンロードして、Macbookにインストールしておきます。
MacbookでDockerコンテナを立ち上げて、その中でROSを動かす
写経したサイト
次のコマンドで、
Terminal
docker run -p 6080:80 --shm-size=512m tiryoh/ros-desktop-vnc:melodic
の中の__melodicディレクトリにあるDockerfile__をインストールしています。
Dockerイメージを指定して、docker runします。
指定したDockerファイルがローカルに見つからないときは、DockerHubから、自動的に該当するDockerファイルがダウンロードされます。
ダウンロード後のインストールも、自動的に処理が走ります。
Terminal_1
electron@diynoMacBook-Pro ros_trial % docker run -p 6080:80 --shm-size=512m tiryoh/ros-desktop-vnc:melodic
Unable to find image 'tiryoh/ros-desktop-vnc:melodic' locally
melodic: Pulling from tiryoh/ros-desktop-vnc
35c102085707: Pull complete
251f5509d51d: Pull complete
8e829fe70a46: Pull complete
6001e1789921: Pull complete
7432864fac0c: Pull complete
4de992ab98a9: Pull complete
08271215cfa0: Pull complete
f1fb1dbd1380: Pull complete
ed3809743259: Pull complete
9e198b6540f4: Pull complete
2cd6eb7f26fb: Pull complete
fa5ba08ad841: Pull complete
14e9aa8f19d9: Pull complete
eb94f3a4681c: Pull complete
d07e2292d3d0: Pull complete
a7945a9bb24c: Pull complete
f9f7d34f4c45: Pull complete
3db48f354a40: Pull complete
653c655a715b: Pull complete
Digest: sha256:8aa95c546a33bf0291b6162e3f5cdf1a0e958201ace3df63e58ae34cec77429e
Status: Downloaded newer image for tiryoh/ros-desktop-vnc:melodic
* enable custom user: ubuntu
useradd: user 'ubuntu' already exists
set default password to "ubuntu"
2021-08-18 08:28:34,752 CRIT Supervisor running as root (no user in config file)
2021-08-18 08:28:34,752 WARN Included extra file "/etc/supervisor/conf.d/supervisord.conf" during parsing
2021-08-18 08:28:34,770 INFO RPC interface 'supervisor' initialized
2021-08-18 08:28:34,770 CRIT Server 'unix_http_server' running without any HTTP authentication checking
2021-08-18 08:28:34,770 INFO supervisord started with pid 19
2021-08-18 08:28:35,778 INFO spawned: 'nginx' with pid 22
2021-08-18 08:28:35,783 INFO spawned: 'web' with pid 23
2021-08-18 08:28:35,788 INFO spawned: 'novnc' with pid 24
2021-08-18 08:28:35,792 INFO spawned: 'wm' with pid 25
2021-08-18 08:28:35,795 INFO spawned: 'pcmanfm' with pid 26
2021-08-18 08:28:35,799 INFO spawned: 'lxpanel' with pid 27
2021-08-18 08:28:35,802 INFO spawned: 'xvfb' with pid 28
2021-08-18 08:28:35,805 INFO spawned: 'x11vnc' with pid 30
2021-08-18 08:28:36,135 INFO Listening on http://localhost:6079 (run.py:87)
2021-08-18 08:28:36,872 INFO success: nginx entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2021-08-18 08:28:36,872 INFO success: web entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2021-08-18 08:28:36,873 INFO success: novnc entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2021-08-18 08:28:36,873 INFO success: wm entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2021-08-18 08:28:36,873 INFO success: pcmanfm entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2021-08-18 08:28:36,873 INFO success: lxpanel entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2021-08-18 08:28:36,873 INFO success: xvfb entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2021-08-18 08:28:36,873 INFO success: x11vnc entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
>>> sending remote command: "qry=dpy_x,dpy_y" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:28:47] "GET /api/state?video=false&id=-1&w=1400&h=741 HTTP/1.0" 200 239 0.511778
2021-08-18 08:28:47,995 INFO waiting for xvfb to stop
2021-08-18 08:28:47,995 INFO waiting for wm to stop
2021-08-18 08:28:47,996 INFO waiting for pcmanfm to stop
Google ChoromeでLocalhostのポート6080を開く
http://127.0.0.1:6080/
次の画面が表示されます。
上の画面の中で、Consoleを2つ立ち上げて、それぞれ以下を入力します。
Localhostサーバ内にTerminal_①
$ roscore
Localhostサーバ内にTerminal_②
$ rosrun turtlesim turtlesim_node
（ 1つ目のConsoleを立ち上げる ）
- __roscore__と入力
（ ２つ目のConsoleを立ち上げる ）
- __rosrun turtlesim turtlesim_node__と入力
亀が表示された
亀を動かしてみる
もう１つ、新たにConsoleを立ち上げて、次を入力。
Localhostサーバ内にTerminal_③
$ rosrun turtlesim turtle_teleop_key
新しいConsoleにカーソルをあえて、矢印キーを押すと、亀が上下左右に直線移動したり、頭の向きを変えることができました。
Macbookホスト側のTerminal 1の画面
Localhostのサーバ上で、亀を表示させたり、動かしてしている間、最初に立ち上げたMacbook（ホストマシン）側のTerminalでは、次の出力がひたすら表示されていました。
Terminal_1
2021-08-18 08:28:47,996 INFO waiting for lxpanel to stop
2021-08-18 08:28:47,997 INFO waiting for x11vnc to stop
2021-08-18 08:28:47,997 INFO waiting for novnc to stop
2021-08-18 08:28:47,999 INFO stopped: novnc (exit status 143)
2021-08-18 08:28:47,999 INFO stopped: lxpanel (terminated by SIGTERM)
2021-08-18 08:28:48,003 INFO stopped: xvfb (terminated by SIGKILL)
2021-08-18 08:28:48,004 INFO stopped: x11vnc (exit status 2)
2021-08-18 08:28:48,007 INFO stopped: wm (exit status 1)
2021-08-18 08:28:48,015 INFO stopped: pcmanfm (exit status 1)
2021-08-18 08:28:49,035 INFO spawned: 'xvfb' with pid 74
2021-08-18 08:28:49,040 INFO spawned: 'wm' with pid 75
2021-08-18 08:28:49,045 INFO spawned: 'pcmanfm' with pid 76
2021-08-18 08:28:49,049 INFO spawned: 'lxpanel' with pid 77
2021-08-18 08:28:49,053 INFO spawned: 'x11vnc' with pid 78
2021-08-18 08:28:49,059 INFO spawned: 'novnc' with pid 79
2021-08-18 08:28:50,082 INFO success: novnc entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2021-08-18 08:28:50,082 INFO success: wm entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2021-08-18 08:28:50,082 INFO success: pcmanfm entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2021-08-18 08:28:50,082 INFO success: lxpanel entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2021-08-18 08:28:50,082 INFO success: xvfb entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2021-08-18 08:28:50,082 INFO success: x11vnc entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
x:lxpanel: stopped
x:novnc: stopped
x:xvfb: stopped
x:wm: stopped
x:pcmanfm: stopped
x:x11vnc: stopped
x:xvfb: started
x:wm: started
x:pcmanfm: started
x:lxpanel: started
x:x11vnc: started
x:novnc: started
127.0.0.1 - - [2021-08-18 08:28:50] "GET /api/reset?video=false&id=-1&w=1400&h=741 HTTP/1.0" 200 140 2.459783
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
>>> sending remote command: "qry=dpy_x,dpy_y" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:28:51] "GET /api/state?video=false&id=1&w=1400&h=741 HTTP/1.0" 200 239 0.531455
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:28:53] "GET /api/state?video=false&id=4&w=1400&h=741 HTTP/1.0" 200 239 0.287734
127.0.0.1 - - [2021-08-18 08:29:04] "GET /api/health HTTP/1.1" 200 122 0.183075
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:29:24] "GET /api/state?video=false&id=5&w=839&h=741 HTTP/1.0" 200 239 30.229748
127.0.0.1 - - [2021-08-18 08:29:34] "GET /api/health HTTP/1.1" 200 122 0.169694
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:29:55] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 239 30.200947
127.0.0.1 - - [2021-08-18 08:30:05] "GET /api/health HTTP/1.1" 200 122 0.178263
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:30:26] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 239 30.216035
127.0.0.1 - - [2021-08-18 08:30:35] "GET /api/health HTTP/1.1" 200 122 0.177897
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:30:58] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 239 30.214221
127.0.0.1 - - [2021-08-18 08:31:05] "GET /api/health HTTP/1.1" 200 122 0.158584
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:31:29] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 239 30.205067
127.0.0.1 - - [2021-08-18 08:31:35] "GET /api/health HTTP/1.1" 200 122 0.159543
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:32:00] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 239 30.178062
127.0.0.1 - - [2021-08-18 08:32:06] "GET /api/health HTTP/1.1" 200 122 0.160322
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:32:31] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 239 30.265399
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:32:36] "GET /api/state?video=false&id=-1&w=1190&h=741 HTTP/1.0" 200 239 0.211221
127.0.0.1 - - [2021-08-18 08:32:36] "GET /api/health HTTP/1.1" 200 122 0.207611
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:33:02] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 128 30.213923
127.0.0.1 - - [2021-08-18 08:33:06] "GET /api/health HTTP/1.1" 200 122 0.156178
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:33:07] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 239 30.209387
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:33:19] "GET /api/state?video=false&id=-1&w=1190&h=741 HTTP/1.0" 200 239 0.226152
127.0.0.1 - - [2021-08-18 08:33:36] "GET /api/health HTTP/1.1" 200 122 0.162252
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:33:38] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 128 30.189854
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:33:41] "GET /api/state?video=false&id=-1&w=1190&h=741 HTTP/1.0" 200 239 0.227067
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:33:51] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 128 30.198149
127.0.0.1 - - [2021-08-18 08:34:07] "GET /api/health HTTP/1.1" 200 122 0.164621
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:34:12] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 239 30.205742
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:34:19] "GET /api/state?video=false&id=-1&w=1190&h=741 HTTP/1.0" 200 239 0.220297
127.0.0.1 - - [2021-08-18 08:34:37] "GET /api/health HTTP/1.1" 200 122 0.191775
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:34:44] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 128 30.189249
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:34:50] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 239 30.189194
127.0.0.1 - - [2021-08-18 08:35:07] "GET /api/health HTTP/1.1" 200 122 0.154795
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:35:21] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 239 30.213326
127.0.0.1 - - [2021-08-18 08:35:37] "GET /api/health HTTP/1.1" 200 122 0.163357
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:35:52] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 239 30.210971
127.0.0.1 - - [2021-08-18 08:36:08] "GET /api/health HTTP/1.1" 200 122 0.196519
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:36:09] "GET /api/state?video=false&id=-1&w=1190&h=741 HTTP/1.0" 200 239 0.294106
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:36:24] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 128 30.214486
127.0.0.1 - - [2021-08-18 08:36:38] "GET /api/health HTTP/1.1" 200 122 0.158128
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:36:40] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 239 30.195796
127.0.0.1 - - [2021-08-18 08:37:08] "GET /api/health HTTP/1.1" 200 122 0.176195
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:37:12] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 239 30.200822
127.0.0.1 - - [2021-08-18 08:37:38] "GET /api/health HTTP/1.1" 200 122 0.159262
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:37:43] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 239 30.210905
127.0.0.1 - - [2021-08-18 08:38:09] "GET /api/health HTTP/1.1" 200 122 0.175741
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:38:14] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 239 30.192055
127.0.0.1 - - [2021-08-18 08:38:39] "GET /api/health HTTP/1.1" 200 122 0.160104
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:38:45] "GET /api/state?video=false&id=-1&w=1368&h=741 HTTP/1.0" 200 239 0.219022
127.0.0.1 - - [2021-08-18 08:38:45] "GET /api/state?video=false&id=5&w=1190&h=741 HTTP/1.0" 200 128 30.186422
127.0.0.1 - - [2021-08-18 08:39:09] "GET /api/health HTTP/1.1" 200 122 0.177632
>>> sending remote command: "cmd=fb" via X11VNC_REMOTE X property.
127.0.0.1 - - [2021-08-18 08:39:16] "GET /api/state?video=false&id=5&w=1368&h=741 HTTP/1.0" 200 128 30.207504
^C2021-08-18 08:39:24,591 WARN received SIGINT indicating exit request
2021-08-18 08:39:24,595 INFO waiting for nginx, novnc, wm, pcmanfm, lxpanel, xvfb, x11vnc, web to die
2021-08-18 08:39:24,597 INFO stopped: novnc (exit status 143)
2021-08-18 08:39:24,602 INFO stopped: lxpanel (terminated by SIGTERM)
2021-08-18 08:39:24,605 INFO stopped: x11vnc (exit status 2)
2021-08-18 08:39:24,611 INFO stopped: xvfb (terminated by SIGKILL)
2021-08-18 08:39:24,611 INFO stopped: wm (exit status 1)
2021-08-18 08:39:24,620 INFO stopped: pcmanfm (exit status 1)
2021-08-18 08:39:24,626 INFO stopped: web (terminated by SIGTERM)
2021-08-18 08:39:24,634 WARN received SIGINT indicating exit request
2021-08-18 08:39:24,641 INFO stopped: nginx (exit status 0)
^C%
最後は、CTRL-Cで強制終了します。
DockerコンテナとDockerイメージの存在確認
Terminal electron@diynoMacBook-Pro ros_trial % pwd
/Users/electron/Desktop/ros_trial
electron@diynoMacBook-Pro ros_trial %
Terminal
electron@diynoMacBook-Pro ros_trial % docker ps
CONTAINER ID IMAGE COMMAND CREATED STATUS PORTS NAMES
electron@diynoMacBook-Pro ros_trial %
Terminal
electron@diynoMacBook-Pro ros_trial % docker ps -a
CONTAINER ID IMAGE COMMAND CREATED STATUS PORTS NAMES
9320249f15fe tiryoh/ros-desktop-vnc:melodic "/startup.sh" 11 minutes ago Exited (130) 24 seconds ago sharp_poincare
b30406a3e289 3f860396e9a0 "/ros_entrypoint.sh …" 26 minutes ago Exited (137) 25 minutes ago talker
1d401e3e03fc 3f860396e9a0 "/ros_entrypoint.sh …" 26 minutes ago Exited (0) 25 minutes ago master
582497b6d3d6 3f860396e9a0 "/ros_entrypoint.sh …" 26 minutes ago Exited (137) 25 minutes ago listener
f4a9a9de724c centos:gahoh "/bin/bash" About an hour ago Exited (1) About an hour ago centos7
b11252fc4c1e jasonkwan/manim:latest "/usr/bin/zsh" 7 months ago Exited (0) 7 months ago elastic_shaw
electron@diynoMacBook-Pro ros_trial %
Terminal
electron@diynoMacBook-Pro ros_trial % docker images
REPOSITORY TAG IMAGE ID CREATED SIZE
ros-tutorials-2 latest 9850b837d8e0 20 minutes ago 1.18GB
ros ros-tutorials 3f860396e9a0 33 minutes ago 1.21GB
ros_test_listener latest 3f860396e9a0 33 minutes ago 1.21GB
ros_test_master latest 3f860396e9a0 33 minutes ago 1.21GB
ros_test_talker latest 3f860396e9a0 33 minutes ago 1.21GB
centos gahoh 06e192b6b927 About an hour ago 736MB
tiryoh/ros-desktop-vnc melodic e717d0c4abe2 3 days ago 4.34GB
ros kinetic a3c5711abb29 7 weeks ago 1.13GB
manimcommunity/manim latest 805ff82b5b12 8 months ago 1.01GB
centos centos7 8652b9f0cb4c 9 months ago 204MB
jasonkwan/manim latest 72bbfbf7c70d 13 months ago 2.77GB
ct2034/vnc-ros-kinetic-full latest 0afed3f76def 18 months ago 4.24GB
electron@diynoMacBook-Pro ros_trial %
その他
なお、別のサイトを参考にしたところ、亀さんが登場するウィンドウを表示させるところで、つまづきました。
QXcbConnection: Could not connect to display ローカルホストのIPアドレス:ポート番号
このエラー、同じくROSを実行しようとして直面した次の方は、トラブルシュートできたとか。残念ながら、解決法が描かれたサイトがリンク切れしていました。