Doly ROS2 Interface

A Dockerized ROS2 interface for the Doly robot, built with the C++ Doly SDK.

Docker: https://hub.docker.com/r/mcfurry/doly-ros-rolling

Overview

This repository provides a ROS2 wrapper around the Doly SDK, enabling seamless integration of Doly robot into ROS2-based robotic systems. The Docker setup ensures minimal changes are needed on the OS of Doly itself.

Features

• ROS2 integration with Doly robot control
• Dockerized environment for easy deployment
• Built on the official C++ Doly SDK

Requirements

• Docker and Docker Compose

Install docker on Doly

To install Docker on Doly, ssh into the system and run:

curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh get-docker.sh
sudo usermod -aG docker $USER

Then install Docker Compose:

sudo apt-get install docker-compose

Reboot your system to apply group changes.

Quick Start

Make sure to copy docker-compose.yml to the Doly robot first.

⚠️ Important: The complete /.doly folder is mounted in this docker container, to read configuration files and to load libraries that the SDK libs require. You might want to consider making a backup of your userdata in this folder

⚠️ Important: The Docker container requires privileged mode and root user access to communicate with the robot's hardware. Start the container with appropriate permissions and as root user!.

sudo su
docker-compose up

Resources

• Doly Official Website
• Doly SDK Repository
• ROS2 Documentation

License

See LICENSE file for details.