Dockerfile for running Kinova Jaco 2 without any ROS installed on the machine. Tested on Ubuntu 18.04.

• Install Docker from here, and follow the instructions here to run docker without sudo access.

• Pull the ros:melodic container from Docker

docker pull ros:melodic

• Clone this repo into ~/workspace and build the docker image:

mkdir ~/workspace && cd ~/workspace
git clone https://github.com/sahandrez/jaco_docker.git
docker build --tag jaco_control .

• To access the arm via USB copy the udev srule file 10-kinova-arm.rules from /udev to /etc/udev/rules.d and then connect the robot to your machine:

sudo cp udev/10-kinova-arm.rules /etc/udev/rules.d/

• Run the Docker container with access to the USB devices for establishing connection to the robot:

docker run -it --name jaco_robot_net --privileged -v /dev/bus/usb:/dev/bus/usb  -p 9030:9030 jaco_control

• You can now run the robot from inside the Docker regularly as if you had ROS installed on your machine. In order to connect to the running container use the following command:

docker exec -it jaco_robot_net /bin/bash

• Hint, if docker exec doesn't work, you may need to run docker start on the container id (found with docker ps)