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Dockerfiles to provide HTML5 VNC interface to access Ubuntu Desktop + ROS2, based on AtsushiSaito/docker-ubuntu-sweb

ROS 1 version: https://github.com/Tiryoh/docker-ros-desktop-vnc

There are official ROS 2 Docker images provided by Open Robotics.
https://github.com/osrf/docker_images/blob/master/README.md#official-library

このツールの詳細については以下の記事で紹介しています。
The details of these tools are written in Japanese on this page.
https://memoteki.net/archives/2955

Run the docker container and access with port 6080.
Change the shm-size value depending on the situation.

NOTE: --security-opt seccomp=unconfined flag is required to launch humble image. See https://github.com/Tiryoh/docker-ros2-desktop-vnc/pull/56.

docker run -p 6080:80 --security-opt seccomp=unconfined --shm-size=512m ghcr.io/tiryoh/ros2-desktop-vnc:humble

Browse http://127.0.0.1:6080/.

To build Docker image from this Dockerfile, run the following command.

• dashing (deprecated)

cd dashing && docker build -t tiryoh/ros2-desktop-vnc:dashing .

• eloquent (deprecated)

cd eloquent && docker build -t tiryoh/ros2-desktop-vnc:eloquent .

• foxy (deprecated)

cd foxy && docker build -t tiryoh/ros2-desktop-vnc:foxy .

• galactic (deprecated)

cd galactic && docker build -t tiryoh/ros2-desktop-vnc:galactic .

• humble

# using "docker build"
cd humble && docker build -t tiryoh/ros2-desktop-vnc:humble .
# using "docker buildx" (amd64)
cd humble && docker buildx build --platform=linux/amd64 --progress=plain -t tiryoh/ros2-desktop-vnc:humble-amd64 .
# using "docker buildx" (arm64)
cd humble && docker buildx build --platform=linux/arm64 --progress=plain -t tiryoh/ros2-desktop-vnc:humble-arm64 .

• iron

# using "docker build"
cd iron && docker build -t tiryoh/ros2-desktop-vnc:iron .
# using "docker buildx" (amd64)
cd iron && docker buildx build --platform=linux/amd64 --progress=plain -t tiryoh/ros2-desktop-vnc:iron-amd64 .
# using "docker buildx" (arm64)
cd iron && docker buildx build --platform=linux/arm64 --progress=plain -t tiryoh/ros2-desktop-vnc:iron-arm64 .

• jazzy

# using "docker build"
cd jazzy && docker build -t tiryoh/ros2-desktop-vnc:jazzy .
# using "docker buildx" (amd64)
cd jazzy && docker buildx build --platform=linux/amd64 --progress=plain -t tiryoh/ros2-desktop-vnc:jazzy-amd64 .
# using "docker buildx" (arm64)
cd jazzy && docker buildx build --platform=linux/arm64 --progress=plain -t tiryoh/ros2-desktop-vnc:jazzy-arm64 .

• rolling

# using "docker build"
cd rolling && docker build -t tiryoh/ros2-desktop-vnc:rolling .
# using "docker buildx" (amd64)
cd rolling && docker buildx build --platform=linux/amd64 --progress=plain -t tiryoh/ros2-desktop-vnc:rolling-amd64 .
# using "docker buildx" (arm64)
cd rolling && docker buildx build --platform=linux/arm64 --progress=plain -t tiryoh/ros2-desktop-vnc:rolling-arm64 .

• dashing which is based on dashing/Dockerfile deprecated
• eloquent which is based on eloquent/Dockerfile deprecated
• foxy which is based on foxy/Dockerfile
• galactic which is based on galactic/Dockerfile deprecated
• humble, latest which is based on humble/Dockerfile
• iron which is based on iron/Dockerfile
• jazzy which is based on jazzy/Dockerfile
• rolling which is based on rolling/Dockerfile

Docker tags and build logs are listed on this page.
https://github.com/Tiryoh/docker-ros2-desktop-vnc/wiki

• https://github.com/atinfinity/nvidia-egl-desktop-ros2
  • Dockerfile to use ROS 2 on Xfce Desktop container with NVIDIA GPU support via VNC/Selkies(Full desktop streaming with WebRTC)
• https://github.com/fcwu/docker-ubuntu-vnc-desktop
  • Dockerfile to access Ubuntu Xfce/LXDE/LxQT desktop environment via web VNC interface
• https://github.com/AtsushiSaito/docker-ubuntu-sweb
  • Dockerfile to access Ubuntu MATE desktop environment via web VNC interface

This repository is released under the Apache License 2.0, see LICENSE.
Unless attributed otherwise, everything in this repository is under the Apache License 2.0.

Copyright 2020-2025 Tiryoh <tiryoh@gmail.com>

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

    http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

• This Dockerfile is based on AtsushiSaito/docker-ubuntu-sweb, licensed under the Apache License 2.0.
• This Dockerfile is based on fcwu/ubuntu-desktop-lxde-vnc, licensed under the Apache License 2.0.