# ROS development on MacOSX using docker

We need to use docker-machine to handle USB ports inside the docker.

## Docker Machine

- Install docker-machine: https://docs.docker.com/machine/install-machine/
- Install virtualbox

### Configuration

Follow this gist: https://gist.github.com/stonehippo/e33750f185806924f1254349ea1a4e68
to setup USB to be visible inside the container.


## Pull ROS image
```
docker pull ros:latest
```

## Run container

Following the guide : https://docs.docker.com/samples/library/ros/

### Create network
```
docker network create ros-network
```

### Container with roscore only

```
docker run -it --rm --net ros-network --name=roscore ros:latest roscore
```

### Dev container

Command with debug support:
```
docker run -it --rm \
    --security-opt seccomp:unconfined \
    --net ros-network \
    -p 9091:9091 \
    --device=/dev/ttyUSB0 \
    -v $PWD:/home/project \
    --name=$container_name \
    --workdir=/home/project \
    $image_name /bin/bash
```

### RViz container

#### Install XQuartz

Install it from : https://www.xquartz.org/

Configure following: https://sourabhbajaj.com/blog/2017/02/07/gui-applications-docker-mac/
- https://sourabhbajaj.com/blog/2017/02/07/gui-applications-docker-mac/#run-xquartz
- get host IP: `ifconfig en0 | grep inet | awk '$1=="inet" {print $2}'`

- `defaults write org.macosforge.xquartz.X11 enable_iglx -bool true`

#### Run XQuartz
```
IP=$(ifconfig en0 | grep inet | awk '$1=="inet" {print $2}')
xhost +${IP}
```

#### Install RViz to ROS Image

#### Run
```
docker run --rm \
    --env="DISPLAY=192.168.5.43:0" \
    --volume="$HOME/.Xauthority:/root/.Xauthority:rw" \
    --net ros-network \
    --env ROS_MASTER_URI=http://roscore:11311 \    
    --name=rviz \
    ros_rviz:latest rviz
```

**Currently does not work**
```
rviz: /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/RenderSystems/GL/src/OgreGLSupport.cpp:56: virtual void Ogre::GLSupport::initialiseExtensions(): Assertion `pcVer && "Problems getting GL version string using glGetString"' failed.
```