服务器版本ros镜像，包含了CAN通讯以及VNC界面操作

以下镜像包含了ros的moveit、novnc、CAN通讯，并且可以web操作界面: 

19900617/ros-moveit-rviz-gazebo:noetic

docker-compose.yml配置文件如下:

version: '3'

services:
  ros:
    container_name: ros
    image: 19900617/ros-moveit-rviz-gazebo:noetic
    entrypoint: ["bash", "-c"]
    command:  /root/start.sh
    stdin_open: true
    privileged: true
    tty: true
    environment:
      - DISPLAY=vnc:0.0
    ports:
      - '9000:9000'
    devices:
      - /dev/bus/usb:/dev/bus/usb
    volumes:
      - /etc/udev/rules.d:/etc/udev/rules.d
      - /dev/bus/usb:/dev/bus/usb
      - ./.bashrc:/root/.bashrc
      - ./src:/root/catkin_ws/src
      - ./build.sh:/root/catkin_ws/build.sh
      - ./start.sh:/root/start.sh
      - ~/.pip/pip.conf:/root/.pip/pip.conf
      - ./logs:/root/.ros/log/
      - /etc/localtime:/etc/localtime
    networks:
      - ros-net

  vnc:
    container_name: vnc