Pixel Simulation (Docker)

Overview

The Pixel Simulation Docker provides a ready-to-use environment for running Pixel Robot simulation without installing ROS 2, Gazebo, or dependencies on the host system. It is intended for quick demonstrations, behavior validation, and first-time exploration of the Pixel navigation stack.

Running the Docker Image

Run the following commands on the host system:

xhost +local:root

sudo docker run -it \
--net=host \
--device=/dev/dri \
-e DISPLAY=$DISPLAY \
-e QT_X11_NO_MITSHM=1 \
-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
gangasagar4012/titan_docker:v1

What This Command Does

  • Pulls the Docker image automatically if it does not already exist on the system
  • Enables GUI forwarding so Ignition Gazebo and RViz2 can display on the host
  • Uses host networking for seamless ROS 2 and Gazebo communication
  • Provides GPU access for hardware-accelerated rendering

Container Startup Behavior

When the container starts, a script automatically launches a tmux session with four panes in a single terminal window.

The layout is:

  • Top-left pane: Simulation bringup
  • Bottom-left pane: Navigation stack
  • Top-right pane: Idle (user commands)
  • Bottom-right pane: Idle (user commands)

Automatic Launch Sequence

Inside the container:

  • The Pixel simulation bringup is launched automatically
  • Ignition Gazebo starts with the warehouse world
  • The robot is spawned in simulation
  • Nav2 is launched with simulation time enabled

At this point, the user only needs to:

  • Open RViz2
  • Set an initial pose if required
  • Send a 2D Goal Pose

The robot will immediately begin autonomous navigation.
This setup is intended to quickly demonstrate robot behavior without manual setup.

Custom Usage

If users want to experiment further, they can:

  • Stop running nodes in any tmux pane
  • Launch SLAM for mapping
  • Load custom maps
  • Tune navigation parameters

This Docker environment supports the full simulation workflow described in the Simulation documentation.

To move between tmux panes:

  • Press Ctrl + b, then use arrow keys to switch panes

Additional useful commands:

  • Ctrl + b, then d → Detach from tmux
  • tmux attach → Reattach to the session
  • Ctrl + d → Close a pane

Further Changes

To make further changes in the docker image: 1. Run the image and make changes in the container. 2. List the cuurent containers

sudo docker ps
  1. Note the container ID
  2. Then docker commit container_id username/repository_name:tag_name . This creates a new image called username/repository_name:tag_name
  3. If you want to push the image to your personal docker hub, docker push username/repository_name:tag_name

Use Case Summary

This Docker setup is ideal for:

  • Quick demonstrations
  • Behavior visualization
  • Testing navigation without hardware
  • Sharing a reproducible simulation environment

No local ROS 2 or Gazebo installation is required.