Dockerized ROSbot + Nav2 demo: https://husarion.com/tutorials/ros2-tutorials/rosbot-ros2-demo/

docker-compose.yml should start, the following containers:

1. From DockerHub:

• rosbot-docker
• rplidar-docker
• astra-docker
• eloquent-ros1-bridge

2. Custom Docker Container:

• nav2-demo-rosbot based on eloquent-ros-base-bionic

Note that we use eloquent-... images instead of foxy-... images becasue ROS2 Foxy doesn't work on ARM32 architecture (no officail docker images).

To run use docker-compose

cd examples/rosbot_pro_nav2_demo
docker-compose up

or foxy version (other dockerfile and ros_entrypoint)

cd examples/rosbot_pro_nav2_foxy
docker-compose up

When running foxy version (dockerfile and ros_entrypoint inside directory)

cd examples/rosbot_pro_nav2_foxy
docker-compose up

Rosbot launches correctly but lidar tf was in other direction (rotated around Z axis) I tried to change this at https://github.com/husarion/rosbot_description/blob/master/src/rosbot_description/launch/rosbot_docker.launch , but had no time to check if this works. Other error is that on eloquent version nav2 sometimes got errors when new goal arrives.