Lidar interface to docker

General
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1

Hi, I am new to Docker. I am trying to connect to Velodyne lidar connected to my host computer with sensor IP, 192.168.1.201. I have tried “docker run -it --network host” to run docker which enables me to ping 192.168.1.201 from docker but does not let ros2 launch find it. I might be missing out a lot as I have not setup network or port in docker or launched it with settings.

Looking for advice which would be great help.

2

Is the lidar a network device connected by LAN/WiFi? It has a different IP than your host?

3

It is over lan and IP is 192.168.1.201 . Is it because —net host does not work on windows docker? Is there a workaround?

4

Well, Windows Docker is Docker Desktop which runs everything in a VM.

But you should still be able to connect from the container to the host external IP, as you should be able to connect to any Internet IP.

The only reason I can think of is that you have a proxy configured, so all requests go directly to the Internet, bypassing devices on the local network.

5

I use a Ethernet to usb adaptor to assign the sensor IP to 192.168.1.77 but that is all. Should this cause issues?
To start docker, I only use - - net host and no port assignment just fyi

6

If the IP is set up, you should just be able to connect to 192.168.1.77. If it does not work, then probably you need to enable routing in your network stack.

7

Thank you, Let me look into that again and get back to make sure what IP the launch is looking at. If I were to enable routing, do you have any instructions for me or any material I can go through?

8

I’ve run into the same issue!

I can ping 192.168.1.201 in the container but get Velodyne poll() timeout from “velodyne_driver_node.”

Have you solved the problem yet?

  • using Windows docker desktop
  • ros2 humble image: osrf/ros:humble-desktop