Installation

LGDXRobot2 ROS 2 is available as Docker images for both AMD64 and ARM64 architectures. It provides web interface access for GUI tools such as rqt, RViz2 and ChassisTuner.

Permission Configuration

The host machine must be configured to allow access to the USB devices used by the robot. The corresponding udev rules are stored in the udev folder. Copy the rules to /etc/udev/rules.d and reload them using the commands below:

sudo udevadm control --reload-rules
sudo udevadm trigger

Desktop Images

The desktop images include ROS 2 GUI tools and provide a web interface suitable for remote control. After the container is started, the web interface becomes accessible at http://localhost:3000. For external access, the address https://<host-ip>:3001 should be used.

The image may require access to USB devices, so it is necessary to mount the host’s /dev and pass the appropriate cgroup rules. Below are the groups for the corresponding devices. The --device-cgroup-rule options may be removed if they are not required.

Major Number	Device
81	Realsense
189	Realsense
188	LiDAR (ttyUSB)
166	Controller Board (ttyACM)
13	Joystick

Simulation Only

docker run -d \
  --name lgdxrobot2 \
  -e PUID=1000 \
  -e PGID=1000 \
  -p 3000:3000 \
  -p 3001:3001 \
  yukaitung/lgdxrobot2-desktop:latest

Basic Usage

docker run -d \
  --name lgdxrobot2 \
  -e PUID=1000 \
  -e PGID=1000 \
  -v /dev:/dev \
  --device-cgroup-rule='c 81:* rwm' \
  --device-cgroup-rule='c 189:* rwm' \
  --device-cgroup-rule='c 188:* rwm' \
  --device-cgroup-rule='c 166:* rwm' \
  --device-cgroup-rule='c 13:* rwm' \
  -p 3000:3000 \
  -p 3001:3001 \
  yukaitung/lgdxrobot2-desktop:latest

With Realsense IMU

Realsense IMU requires privileged mode.

Privileged mode is recommended for development purposes only.

docker run -d \
  --name lgdxrobot2 \
  -e PUID=1000 \
  -e PGID=1000 \
  -v /dev:/dev \
  --device-cgroup-rule='c 81:* rwm' \
  --device-cgroup-rule='c 189:* rwm' \
  --device-cgroup-rule='c 188:* rwm' \
  --device-cgroup-rule='c 166:* rwm' \
  --device-cgroup-rule='c 13:* rwm' \
  --privileged \
  -p 3000:3000 \
  -p 3001:3001 \
  yukaitung/lgdxrobot2-desktop:latest

For Older Hardware

For older version of Ubuntu, the security-opt option may be required.

Privileged mode and --security-opt are suitable for development purposes only.

docker run -d \
  --name lgdxrobot2 \
  -e PUID=1000 \
  -e PGID=1000 \
  -v /dev:/dev \
  --device-cgroup-rule='c 81:* rwm' \
  --device-cgroup-rule='c 189:* rwm' \
  --device-cgroup-rule='c 188:* rwm' \
  --device-cgroup-rule='c 166:* rwm' \
  --device-cgroup-rule='c 13:* rwm' \
  --privileged \
  --security-opt seccomp=unconfined \
  -p 3000:3000 \
  -p 3001:3001 \
  yukaitung/lgdxrobot2-desktop:latest