Source code from turtlebot3_foxy/src without realsense package
In order to use docker image, all you have to do is 
Windows docker and ubuntu docker

./importTURTLEBOT3LITE.sh
./runTURTLEBOT3LITE.sh

open 
http://localhost:6080
http://docker_ip:6080
ssh
ssh ubuntu:docker_ip -p 2222



------------------------
roslaunch orne_bringup orne_alpha_sim.launch
roslaunch icart_mini_gazebo icart_mini.launch
rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/icart_mini/cmd_vel

Build tsukuba-image and execute
> buildTSUKUBA.sh
> runTSUKUBA.sh

Snap tsukuba-image and export tsukuba-lite-image
> docker container ls 
> docker export tsukuba_containerID | gzip -c > tsukuba-lite.taz

Ctrl-C and remove tsukuba_containerID and tsukuba_image
> docker container ls -a
> docker container rm tsukuba_containerID
> docker image ls
> docker image rm tsukuba_imageID

Import orne-lite-image to Docker
> importORNELITE.sh

Execute orne-lite-image
> runORNELITE.sh


buildORNE.sh
---
docker build -t orne .
---
runORNE.sh
---
docker run --rm -p 6080:80 -p 2222:22 --shm-size=512m  -e HOME=/home/ubuntu -e SHELL=/bin/bash --entrypoint '/startup.sh' orne
---
exportORNE.txt
---
docker export orne_containerID | gzip -c > orne-lite.taz
---
importORNELITE.sh
---
cat orne-lite.taz | gzip -d | docker import - orne-lite:latest
---
runORNELITE.sh
---
docker run -p 6080:80 -p 2222:22 -e RESOLUTION=1920x1080 --shm-size=512m -e HOME=/home/ubuntu -e SHELL=/bin/bash --entrypoint '/startup.sh' orne-lite
---
runORNELITEUSB.sh video example 
sudo chmod 777 /dev/video*

docker run -p 6080:80 -p 2222:22 -e RESOLUTION=1920x1080 --shm-size=512m -e HOME=/home/ubuntu -e SHELL=/bin/bash --device /dev/video0:/dev/video0:mwr --device /dev/video6:/dev/video1:mwr --entrypoint '/startup.sh' orne-lite




-----
#kbkn
#%buildmap
#buildmap     ='roslaunch orne_navigation_executor build_map_teleop.launch'
#buildmap-igvc='roslaunch orne_navigation_executor build_map_teleop_igvc.launch'

#savemap     ='rosrun map_server map_saver -f /home/kbkn/catkin_ws/src/orne_navigation/#orne_navigation_executor/maps/mymap && bash /home/kbkn/catkin_ws/src/orne_navigation/#orne_navigation_executor/launch/rename.sh'
#savemap-igvc='roslaunch orne_navigation_executor save_map_igvc.launch'

alias kbkn-savemap-cam-nomap='roslaunch orne_navigation_executor save_map_igvc_cam.launch'
alias kbkn-savemap-cam-map='roslaunch orne_navigation_executor save_map_igvc_cam2.launch'
alias kbkn-velodyne='roslaunch pointcloud_to_laserscan velodyne_scan_node.launch'

alias kbkn-waypoint-joy='roslaunch orne_navigation_executor record_waypoints_joy.launch map_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/maps/mymap.yaml'
alias kbkn-waypoint-rviz='roslaunch orne_navigation_executor record_waypoints_viz.launch map_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/maps/mymap.yaml'

#alias kbkn-navi='roslaunch orne_navigation_executor play_waypoints_nav.launch map_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/maps/mymap.yaml & /home/kbkn/Desktop/velodyn_add.sh'
alias kbkn-navi='roslaunch orne_navigation_executor play_waypoints_nav.launch map_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/maps/mymap.yaml'
alias kbkn-navi-nomap='roslaunch orne_navigation_executor play_waypoints_nav_first.launch'
alias kbkn-navi-map='roslaunch orne_navigation_executor play_waypoints_nav_second.launch map_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/maps/mymap.yaml'

alias tsukuba-navi-left='roslaunch orne_navigation_executor tsukuba2018_play_waypoints_nav.launch map_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/maps/multimap_l.yaml waypoints_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/waypoints_cfg/waypoints_l.yaml'
alias tsukuba-navi-right='roslaunch orne_navigation_executor tsukuba2018_play_waypoints_nav.launch map_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/maps/multimap_r.yaml waypoints_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/waypoints_cfg/waypoints_r.yaml'

alias kbkn-start='echo ggggg >/dev/sensors/LED & roslaunch orne_bringup orne_beta.launch'
alias kbkn-start-igvc='echo ggggg >/dev/sensors/LED & roslaunch orne_bringup orne_beta_igvc.launch'
alias kbkn-start-sim='roslaunch orne_bringup orne_beta_sim.launch'
alias kbkn-start-bag='roslaunch orne_bringup orne_beta_bag.launch'
alias kbkn-start-gps='echo ggggg >/dev/sensors/LED & roslaunch orne_bringup orne_beta_gps.launch'
alias kbkn-linedetection='roslaunch line_detection line_detection.launch'
alias kbkn-lineplusLRF='rosrun image_to_scan LinePlusLRF.py'
alias 8terminator='terminator -l 8terminator'
alias off='echo hhhhh >/dev/sensors/LED'

alias restart_nav='rosservice call /restart_nav'

alias imu-start='roslaunch bno055_serial_to_imu start_imu.launch'
alias zero-imu='rosservice call /imu/set_zero_orientation'

alias gps_usa='roslaunch gps gps_shusei_usa.launch --screen'
alias gps_japan='roslaunch gps gps_shusei.launch --screen'


# igvc2019 alias-list

alias igvc-start='echo ggggg >/dev/sensors/LED & roslaunch orne_bringup orne_beta_igvc.launch'
alias igvc-sim='roslaunch orne_bringup orne_beta_sim.launch'
alias igvc-bag='roslaunch orne_bringup orne_beta_bag.launch'
alias igvc-buildmap='roslaunch orne_navigation_executor build_map_teleop_igvc.launch'
alias igvc-savemap='roslaunch orne_navigation_executor save_map_igvc_cam.launch'
alias igvc-nav-nomap='roslaunch orne_navigation_executor play_waypoints_nav_first.launch'
alias igvc-nav-map='roslaunch orne_navigation_executor play_waypoints_nav_second.launch map_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/maps/mymap.yaml'
alias line='roslaunch line_detection line_detection.launch'
alias gps='roslaunch gps gps_compass.launch --screen'

# exe line_detection

alias line_tmp='roslaunch line_detection line_detection_tmp.launch'
alias line_med='roslaunch line_detection line_detection_med.launch'
alias line_otsu='roslaunch line_detection line_detection_otsu.launch'
alias line_exe='roslaunch line_detection line_detection_exe.launch'
alias line_ada='roslaunch line_detection line_detection_ada.launch'
alias line_label='roslaunch line_detection line_detection_label.launch'

#test

alias realsense='roslaunch realsense2_camera rs_camera.launch'
alias rs_bag='cd /home/kbkn/Desktop/Tsukuba2019_0629bag/realsense && rosbag record /camera/color/image_raw /camera/depth/image_rect_raw /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw'
alias webcamera_bag='cd /home/kbkn/Desktop/Tsukuba2019_0629bag/web_camera && rosbag record /camera_web/image_raw'
alias theta_bag='cd /home/kbkn/Desktop/Tsukuba2019_0629bag/theta && rosbag record /camera_theta/image_raw'
alias r_and_w='cd /home/kbkn/Desktop/Tsukuba2019_0629bag/r_w && rosbag record /camera/color/image_raw /camera/depth/image_rect_raw /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw /camera_web/image_raw'
alias t_and_r='cd /home/kbkn/Desktop/Tsukuba2019_0629bag/r_t && rosbag record /camera/color/image_raw /camera/depth/image_rect_raw /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw /camera_theta/image_raw'
alias w_and_t='cd /home/kbkn/Desktop/Tsukuba2019_0629bag/t_w && rosbag record /camera_theta/image_raw /camera_web/image_raw'
alias all_camera='cd /home/kbkn/Desktop/Tsukuba2019_0629bag/all && rosbag record /camera/color/image_raw /camera/depth/image_rect_raw /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw /camera_theta/image_raw /camera_web/image_raw'


#Tsukuba2019_0914

alias camera='roslaunch camera_bag camera_bag.launch'
alias tr_traffic='cd /home/kbkn/Desktop/Tsukuba2019_0914bag/traffic && rosbag record /camera/color/image_raw /camera/depth/image_rect_raw /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw /camera_theta/image_raw'
alias tr_human='cd /home/kbkn/Desktop/Tsukuba2019_0914bag/human && rosbag record /camera/color/image_raw /camera/depth/image_rect_raw /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw /camera_theta/image_raw'
alias tr_check='cd /home/kbkn/Desktop/Tsukuba2019_0914bag/check && rosbag record /camera/color/image_raw /camera/depth/image_rect_raw /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw /camera_theta/image_raw'

#Tsukuba-csv
alias csv-start='echo ggggg >/dev/sensors/LED & roslaunch orne_bringup orne_beta_gps.launch'
alias csv-buildmap='roslaunch orne_navigation_executor csv_build_map_teleop.launch'
alias csv-navi='roslaunch orne_navigation_executor csv_play_waypoints_nav.launch map_file:=/home/kbkn/catkin_ws/src/orne_navigation/orne_navigation_executor/maps/mymap.yaml'

alias rtk-start='cd /home/kbkn/rtklib_2.4.3/app/rtkrcv/gcc && ./rtkrcv -o ../conf/myrtk4.conf'
alias rtk-calc='roslaunch gps gps_rtk.launch --screen'


#stty ospeed 115200 ispeed 115200 -F /dev/sensors/LED

#My PC
alias screen-set='xrandr --output VGA-1 --mode 1280x1024 -r 60.02'



sudo vi /etc/udev/rules.d/70-sensors.rules
------------
SUBSYSTEMS=="usb", KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="15d1", ATTRS{idProduct}=="0000", MODE="666", SYMLINK+="sensors/hokuyo_urg", GROUP="dialout"
SUBSYSTEMS=="usb", KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="03eb", ATTRS{idProduct}=="6119", MODE="666", SYMLINK+="sensors/icart-mini", GROUP="dialout"
#SUBSYSTEMS=="usb", KERNEL=="ttyACM*", ACTION=="add", ATTRS{product}=="T-frog Driver", MODE="666", SYMLINK+="sensors/icart-mini", GROUP="dialout"
SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{product}=="FT232R USB UART", MODE="666", SYMLINK+="sensors/ftdi%n", GROUP="dialout"
#SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", MODE="666", SYMLINK+="sensors/jg35fd", GROUP="dialout"
SUBSYSTEMS=="usb", KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a8", MODE="666", SYMLINK+="sensors/rtkgps", GROUP="dialout"
SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", MODE="666", SYMLINK+="sensors/gps", GROUP="dialout"
#SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE="666", SYMLINK+="sensors/gpsmini", GROUP="dialout"
SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE="666", SYMLINK+="sensors/jg35fd", GROUP="dialout"
SUBSYSTEMS=="usb", KERNEL=="ttyUSB[0-9]*", ACTION=="add", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6015", MODE="666", SYMLINK+="sensors/LED", GROUP="dialout"
#SUBSYSTEM=="net", ACTION=="add", DRIVERS=="?*", ATTR{address}=="80:fa:5b:22:bd:88", ATTR{dev_id}=="0x0", ATTR{type}=="1", KERNEL=="eth*", NAME="eth0"