MOLISENS/MOSEP Docker Images

Docker image definitions for the MOLISENS/MOSEP development environment. Builds multi-platform images (x86_64, aarch64) using a three-layer approach for efficient caching and rebuilds.

Image Layers

Layer	Dockerfile	Description
Base	Dockerfile.1_base	ROS 2 Humble base with locale, timezone, sudo
Dependencies	Dockerfile.2_dependencies	System libraries, ROS packages, Python tools, build essentials
MOSEP	Dockerfile.3_molisens	Entrypoint and environment setup

Building

Build all layers for the current platform:

./build.sh

The script auto-detects the platform (x86_64 or aarch64) and builds all three layers sequentially. Final images are tagged as:

ghcr.io/molisens-mosep/humble-<arch>:<version>

Platform Support

Platform	Directory	Image Tag
x86_64	x86_64/	humble-x86_64:0.5
ARM64	aarch64/	humble-aarch64:0.5

The aarch64 configuration includes device passthrough for sensors (serial ports, IMU, GPS).

Ouster ROS 1 Bridge

The Ouster_ROS1/ directory contains a special hybrid image for bridging Ouster LiDAR data between ROS 1 (Noetic) and ROS 2 (Galactic) using ros1_bridge:

cd Ouster_ROS1
./build_ouster_ros1.sh
./run_ouster_ros1.sh

Bridges topics: /lidar_top/points, /tf, /tf_static.

Structure

docker/
├── build.sh              # Master build script
├── x86_64/                   # x86_64 Dockerfiles + entrypoint
│   ├── Dockerfile.1_base
│   ├── Dockerfile.2_dependencies
│   ├── Dockerfile.3_molisens
│   ├── entrypoint
│   └── env.sh
├── aarch64/                  # ARM64 Dockerfiles + entrypoint
│   ├── Dockerfile.1_base
│   ├── Dockerfile.2_dependencies
│   ├── Dockerfile.3_molisens
│   ├── entrypoint
│   └── env.sh
└── Ouster_ROS1/              # ROS 1↔ROS 2 bridge for Ouster LiDAR
    ├── Dockerfile
    ├── build_ouster_ros1.sh
    ├── run_ouster_ros1.sh
    └── ros1_bridge.yaml