docker

To run the lbr_fri_ros2_stack in a Docker container, follow the instructions below.

Install vcstool
```
pip3 install vcstool
```

Create a workspace and clone

export FRI_CLIENT_VERSION=1.15 # replace by your FRI client version
mkdir -p lbr-stack/src && cd lbr-stack
vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos-fri-${FRI_CLIENT_VERSION}.yaml

Install Docker :octicon:`link-external`.

Copy the Dockerfile and the container scripts to the lbr-stack directory. Build and start the container

cp -r src/lbr_fri_ros2_stack/docker/* .
sudo ./container_build.sh # this will run the container once finished

Once inside the container, launch e.g. the mock setup via
```
ros2 launch lbr_bringup mock.launch.py model:=iiwa7
```
Hint

List all arguments for the launch file via
```
ros2 launch lbr_bringup mock.launch.py
```
Hint

Refer to :ref:`lbr_bringup` for more launch options.
Connect another shell to the running container
```
./container_new_console.sh
```

Run e.g. MoveIt with RViz

ros2 launch lbr_bringup move_group.launch.py rviz:=true