Simulated robot on docker with X11 forwarding

This setup tutorial will guide you through setting up your PC to run the simulated robot with the demos. This assumes that you have a linux machine. Tested on ubuntu 20, but should work on any linux.

Installing Docker

Quick version:

sudo apt install curl
echo "Installing docker"
curl -fsSL https://get.docker.com | sudo sh

groupadd docker
usermod -aG docker $(whoami)

Restart user session.

Slow version is to follow the instructions here.

Cloning Robotont’s packages

All Robotont’s packages can be accessed from Robotont’s GitHub.

Packages necessary to run the Gazebo simulation with Robotont’s demos are following:

mkdir -p robotont/src
cd robotont/src

git clone https://github.com/robotont/robotont_description.git
git clone https://github.com/robotont/robotont_demos.git
git clone https://github.com/robotont/robotont_gazebo.git
git clone https://github.com/robotont/robotont_msgs.git
git clone https://github.com/robotont/robotont_navigation.git
git clone https://github.com/robotont/robotont_nuc_description.git

cd ..
echo "Path to robotont workspace: $(pwd)""

Instructions when using an nvidia GPU

Install nvidia-docker 2 here.

Use docker-ros-box to setup ros

git clone https://github.com/KingBoomie/docker-ros-box.git
cd docker-ros-box
./init-ros-box.sh melodic <PATH_TO_ROBOTONT_WORKSPACE>

Instructions for everyone else

Use docker-ros-box to setup ros

git clone https://github.com/pierrekilly/docker-ros-box
cd docker-ros-box
./init-ros-box.sh melodic <PATH_TO_ROBOTONT_WORKSPACE>

Logging into your ros image

In the robotont folder

./go.sh
cd /home/melodic-dev/catkin_ws

Installing missing dependancies

sudo apt install -y ros-melodic-depthimage-to-laserscan \
    ros-melodic-cartographer-ros \
    ros-melodic-move-base \
    ros-melodic-rtabmap-ros \
    ros-melodic-ar-track-alvar \
    ros-melodic-realsense2-description \
    ros-melodic-realsense2-camera \
    ros-melodic-joy \
    ros-melodic-teleop-twist-keyboard

Building the catkin workspace

cd catkin_ws
catkin build

Sourcing the workspace

Make the workspace visible to ROS (must be done for every new terminal)

source ~/catkin_ws/devel/setup.bash

For automatic sourcing:

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

Running the demos with Gazebo

Tutorial for running the simulation with the demos can be found here: Demos on Gazebo.