Repository Summary
Checkout URI | https://github.com/RobotnikAutomation/rb1_base_sim.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2023-04-03 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
rb1_base_gazebo | 1.12.0 |
rb1_base_sim | 1.12.0 |
rb1_base_sim_bringup | 1.12.0 |
README
rb1_base_sim
Packages for the simulation of the RB-1 Base
Packages
rb1_base_gazebo
This package contains the configuration files and worlds to launch the Gazebo environment along with the simulated robot.
rb1_base_sim_bringup
Launch files that launch the complete simulation of the robot/s.
Simulating RB-1 Base
1) Install the following dependencies:
This simulation has been tested using Gazebo 9 version. To facilitate the installation you can use the vcstool:
sudo apt-get install -y python3-vcstool
2) Create a workspace and clone the repository:
mkdir catkin_ws
cd catkin_ws
vcs import --input \
https://raw.githubusercontent.com/RobotnikAutomation/rb1_base_sim/melodic-devel/repos/rb1_base_sim.repos
rosdep install --from-paths src --ignore-src -y
3) Compile:
catkin build
source devel/setup.bash
4) Launch RB-1 Base simulation (1 robot by default, up to 3 robots):
- RB-1 Base:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch
Optional general arguments:
<arg name="launch_rviz" default="true"/>
<arg
name="gazebo_world"
default="$(find rb1_base_gazebo)/worlds/rb1_base_office.world"
/>
Optional robot arguments:
<!--arguments for each robot (example for robot A)-->
<arg name="id_robot_a" default="robot"/>
<arg name="launch_robot_a" default="true"/>
<arg name="has_elevator_robot_a" default="true"/>
<arg name="x_init_pose_robot_a" default="0.0" />
<arg name="y_init_pose_robot_a" default="0.0" />
<arg name="z_init_pose_robot_a" default="0.0" />
<arg name="init_yaw_robot_a" default="0.0" />
<arg name="gmapping_robot_a" default="false"/>
<arg name="amcl_and_mapserver_robot_a" default="true"/>
<arg name="map_frame_robot_a" default="$(arg id_robot_a)_map"/>
<arg
name="map_file_robot_a"
default="$(find rb1_base_localization)/maps/willow_garage/willow_garage.yaml"
/>
<arg name="move_base_robot_a" default="true"/>
<arg name="pad_robot_a" default="true"/>
- Example to launch simulation with 3 RB-1 Base robots:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
launch_robot_a:=true \
launch_robot_b:=true \
launch_robot_c:=true
- Example to launch simulation with 1 RB-1 Base robot with navigation and localization:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
launch_robot_a:=true \
move_base_robot_a:=true \
amcl_and_mapserver_robot_a:=true
- Example to launch simulation with 2 RB-1 Base robot with navigation and localization sharing the same global frame:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
launch_robot_a:=true \
amcl_and_mapserver_robot_a:=true \
move_base_robot_a:=true \
map_frame_a:=/map \
launch_robot_b:=true \
amcl_and_mapserver_robot_b:=true \
move_base_robot_b:=true \
map_frame_b:=/map
- Example to launch simulation with 3 RB-1 Base robot with navigation and localization sharing the same global frame:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
launch_robot_a:=true \
amcl_and_mapserver_robot_a:=true \
move_base_robot_a:=true \
map_frame_a:=/map \
launch_robot_b:=true \
amcl_and_mapserver_robot_b:=true \
move_base_robot_b:=true \
map_frame_b:=/map \
launch_robot_c:=true \
amcl_and_mapserver_robot_c:=true \
move_base_robot_c:=true \
map_frame_c:=/map
commands and data retrieving
Enjoy! You can use the topic ${id_robot}/robotnik_base_control/cmd_vel
to control the RB-1 Base robot:
rostopic pub /robot/robotnik_base_control/cmd_vel geometry_msgs/Twist "linear:
x: 0.1
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0" -r 10
or if you have launched move_base, you can send simple goals using /${id_robot}/move_base_simple/goal
:
rostopic pub /robot/move_base_simple/goal geometry_msgs/PoseStamped "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: 'robot_map'
pose:
position:
x: 3.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0"
Docker usage
Installation of required files
Intel GPU
Nvidia GPU
nvidia-drivers
Usage
git clone https://github.com/RobotnikAutomation/rb1_base_sim.git
cd rb1_base_sim
git checkout noetic-devel
export ROS_BU_PKG="rb1_base_sim_bringup"
export ROS_BU_LAUNCH="rb1_base_complete.launch"
nvidia-smi &>/dev/null \
&& ln -sf docker-compose-nvidia.yml docker-compose.yml \
|| ln -sf docker-compose-intel.yml docker-compose.yml
docker compose up
Docker permission fix
In order to run this simulation it's mandatory to the current linux user to have full docker permission. If the simulation fails due to that, please execute the following command:
sudo usermod -aG docker $USER
newgrp docker
Selecting the robot model
If you wish to change the simulation parameters change the environment variable ROS_BU_LAUNCH
and relaunch the simulation
Manual Build
If you wish to build the image without launching the simulation use the following commands:
cd docker
docker compose build
Notes
This is docker requires a graphical interface
The
ROS_MASTER_URI
is accessible outside the container, so in the host any ros command should workYou could also run a
roscore
previous to launch the simulation in order to have some processes on the host runningif you want to enter on the container use the following command in another terminal
docker container exec -it docker-base-1 bash
- In order to exit you have to 2 options
- Close
gazebo
andrviz
and wait a bit
- execute in another terminal in the same folder than the
docker-compose.yml
:
docker compose down
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/RobotnikAutomation/rb1_base_sim.git |
VCS Type | git |
VCS Version | noetic-devel |
Last Updated | 2023-02-09 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
rb1_base_gazebo | 1.12.0 |
rb1_base_sim | 1.12.0 |
rb1_base_sim_bringup | 1.12.0 |
README
rb1_base_sim
Packages for the simulation of the RB-1 Base
Packages
rb1_base_gazebo
This package contains the configuration files and worlds to launch the Gazebo environment along with the simulated robot.
rb1_base_sim_bringup
Launch files that launch the complete simulation of the robot/s.
Simulating RB-1 Base
1) Install the following dependencies:
This simulation has been tested using Gazebo 9 version. To facilitate the installation you can use the vcstool:
sudo apt-get install -y python3-vcstool
2) Create a workspace and clone the repository:
mkdir catkin_ws
cd catkin_ws
vcs import --input \
https://raw.githubusercontent.com/RobotnikAutomation/rb1_base_sim/melodic-devel/repos/rb1_base_sim.repos
rosdep install --from-paths src --ignore-src -y
3) Compile:
catkin build
source devel/setup.bash
4) Launch RB-1 Base simulation (1 robot by default, up to 3 robots):
- RB-1 Base:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch
Optional general arguments:
<arg name="launch_rviz" default="true"/>
<arg
name="gazebo_world"
default="$(find rb1_base_gazebo)/worlds/rb1_base_office.world"
/>
Optional robot arguments:
<!--arguments for each robot (example for robot A)-->
<arg name="id_robot_a" default="robot"/>
<arg name="launch_robot_a" default="true"/>
<arg name="has_elevator_robot_a" default="true"/>
<arg name="x_init_pose_robot_a" default="0.0" />
<arg name="y_init_pose_robot_a" default="0.0" />
<arg name="z_init_pose_robot_a" default="0.0" />
<arg name="init_yaw_robot_a" default="0.0" />
<arg name="gmapping_robot_a" default="false"/>
<arg name="amcl_and_mapserver_robot_a" default="true"/>
<arg name="map_frame_robot_a" default="$(arg id_robot_a)_map"/>
<arg
name="map_file_robot_a"
default="$(find rb1_base_localization)/maps/willow_garage/willow_garage.yaml"
/>
<arg name="move_base_robot_a" default="true"/>
<arg name="pad_robot_a" default="true"/>
- Example to launch simulation with 3 RB-1 Base robots:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
launch_robot_a:=true \
launch_robot_b:=true \
launch_robot_c:=true
- Example to launch simulation with 1 RB-1 Base robot with navigation and localization:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
launch_robot_a:=true \
move_base_robot_a:=true \
amcl_and_mapserver_robot_a:=true
- Example to launch simulation with 2 RB-1 Base robot with navigation and localization sharing the same global frame:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
launch_robot_a:=true \
amcl_and_mapserver_robot_a:=true \
move_base_robot_a:=true \
map_frame_a:=/map \
launch_robot_b:=true \
amcl_and_mapserver_robot_b:=true \
move_base_robot_b:=true \
map_frame_b:=/map
- Example to launch simulation with 3 RB-1 Base robot with navigation and localization sharing the same global frame:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
launch_robot_a:=true \
amcl_and_mapserver_robot_a:=true \
move_base_robot_a:=true \
map_frame_a:=/map \
launch_robot_b:=true \
amcl_and_mapserver_robot_b:=true \
move_base_robot_b:=true \
map_frame_b:=/map \
launch_robot_c:=true \
amcl_and_mapserver_robot_c:=true \
move_base_robot_c:=true \
map_frame_c:=/map
commands and data retrieving
Enjoy! You can use the topic ${id_robot}/robotnik_base_control/cmd_vel
to control the RB-1 Base robot:
rostopic pub /robot/robotnik_base_control/cmd_vel geometry_msgs/Twist "linear:
x: 0.1
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0" -r 10
or if you have launched move_base, you can send simple goals using /${id_robot}/move_base_simple/goal
:
rostopic pub /robot/move_base_simple/goal geometry_msgs/PoseStamped "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: 'robot_map'
pose:
position:
x: 3.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0"
Docker usage
Installation of required files
Intel GPU
Nvidia GPU
nvidia-drivers
Usage
git clone https://github.com/RobotnikAutomation/rb1_base_sim.git
cd rb1_base_sim
git checkout noetic-devel
export ROS_BU_PKG="rb1_base_sim_bringup"
export ROS_BU_LAUNCH="rb1_base_complete.launch"
nvidia-smi &>/dev/null \
&& ln -sf docker-compose-nvidia.yml docker-compose.yml \
|| ln -sf docker-compose-intel.yml docker-compose.yml
docker compose up
Docker permission fix
In order to run this simulation it's mandatory to the current linux user to have full docker permission. If the simulation fails due to that, please execute the following command:
sudo usermod -aG docker $USER
newgrp docker
Selecting the robot model
If you wish to change the simulation parameters change the environment variable ROS_BU_LAUNCH
and relaunch the simulation
Manual Build
If you wish to build the image without launching the simulation use the following commands:
cd docker
docker compose build
Notes
This is docker requires a graphical interface
The
ROS_MASTER_URI
is accessible outside the container, so in the host any ros command should workYou could also run a
roscore
previous to launch the simulation in order to have some processes on the host runningif you want to enter on the container use the following command in another terminal
docker container exec -it docker-base-1 bash
- In order to exit you have to 2 options
- Close
gazebo
andrviz
and wait a bit
- execute in another terminal in the same folder than the
docker-compose.yml
:
docker compose down
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/RobotnikAutomation/rb1_base_sim.git |
VCS Type | git |
VCS Version | indigo-devel |
Last Updated | 2017-06-29 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
rb1_base_control | 1.0.1 |
rb1_base_gazebo | 1.0.1 |
rb1_base_sim | 1.0.2 |
rb1_base_sim_bringup | 0.1.0 |
README
rb1_base_sim
Robot Simulation ROS packages for the Robotnik RB-1 Base, - rb1_base_control : Contains the configuration files for the Gazebo controllers used by the model. - rb1_base_gazebo : Contains the configuration files to launch the Gazebo environment along with the simulated robot. - rb1_base_sim_bringup : Contains the launch files to easy bringup all the simulation.
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/RobotnikAutomation/rb1_base_sim.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2021-01-05 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
rb1_base_gazebo | 2.0.0 |
rb1_base_sim | 2.0.0 |
rb1_base_sim_bringup | 2.0.0 |
README
rb1_base_sim
Packages for the simulation of the RB-1 Base
Packages
rb1_base_gazebo
This package contains the configuration files and worlds to launch the Gazebo environment along with the simulated robot.
rb1_base_sim_bringup
Launch files that launch the complete simulation of the robot/s.
Simulating RB-1 Base
Dependencies
Install the following dependencies: - rb1_base_common link
robotnik_msgs link
robotnik_sensors link
robotnik_base_hw_sim link
robot_localization_utils link
gazebo_ros_pkgs (Robotnik's fork) link
In the workspace install the packages dependencies:
rosdep install --from-paths src --ignore-src -r -y
RB-1 Base
Launch RB-1 Base simulation (1 robot by default, up to 3 robots):
roslaunch rb1_base_sim_bringup rb1_base_complete.launch
Optional general arguments:
<arg name="launch_rviz" default="true"/>
<arg name="gazebo_world" default="$(find rb1_base_gazebo)/worlds/rb1_base_office.world"/>
Optional robot arguments:
<!--arguments for each robot (example for robot A)-->
<arg name="id_robot_a" default="robot"/>
<arg name="launch_robot_a" default="true"/>
<arg name="has_elevator_robot_a" default="true"/>
<arg name="x_init_pose_robot_a" default="0" />
<arg name="y_init_pose_robot_a" default="0" />
<arg name="z_init_pose_robot_a" default="0" />
<arg name="init_yaw_robot_a" default="0.0" />
<arg name="gmapping_robot_a" default="false"/>
<arg name="amcl_and_mapserver_robot_a" default="false"/>
<arg name="map_frame_robot_a" default="$(arg id_robot_a)_map"/>
<arg name="map_file_robot_a" default="$(find rb1_base_localization)/maps/willow_garage/willow_garage.yaml"/>
<arg name="move_base_robot_a" default="false"/>
<arg name="pad_robot_a" default="true"/>
<arg name="xacro_robot_a" default="rb1_base_std.urdf.xacro"/>
Example to launch simulation with 3 RB-1 Base robots:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
launch_robot_b:=true \
launch_robot_c:=true
Example to launch simulation with 1 RB-1 Base robot with navigation and localization:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
move_base_robot_a:=true \
amcl_and_mapserver_robot_a:=true
Example to launch simulation with 2 RB-1 Base robot with navigation and localization sharing the same global frame:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
amcl_and_mapserver_robot_a:=true \
move_base_robot_a:=true \
map_frame_robot_a:=map \
launch_robot_b:=true \
amcl_and_mapserver_robot_b:=true \
move_base_robot_b:=true \
map_frame_robot_b:=map
Example to launch simulation with 3 RB-1 Base robot with navigation and localization sharing the same global frame:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
amcl_and_mapserver_robot_a:=true \
move_base_robot_a:=true \
map_frame_robot_a:=map \
launch_robot_b:=true \
amcl_and_mapserver_robot_b:=true \
move_base_robot_b:=true \
map_frame_robot_b:=map \
launch_robot_c:=true \
amcl_and_mapserver_robot_c:=true \
move_base_robot_c:=true \
map_frame_robot_c:=map
You can use the topic ${id_robot}/robotnik_base_control/cmd_vel
to control the RB-1 Base robot or send simple goals using /${id_robot}/move_base_simple/goal
RB-1 Base Dual Arm
There is also a version of the base plus a torso with two ur3 arms.
Example to launch rb1_base with two ur arms:
roslaunch rb1_base_sim_bringup rb1_dual_ur3_complete.launch amcl_and_mapserver:=true move_base:=true
In case you want to use moveit to manipulate the arms:
roslaunch rb1_base_sim_bringup rb1_dual_ur3_complete.launch amcl_and_mapserver:=true move_base:=true moveit_movegroup:=true
This simulation requires the use of the ros_planar plugin (Robotnik's fork).
You can use the topic ${id_robot}/robotnik_base_control/cmd_vel
to control the RB-1 Base Dual Arm robot or send simple goals using /${id_robot}/move_base_simple/goal
CONTRIBUTING
Repository Summary
Checkout URI | https://github.com/RobotnikAutomation/rb1_base_sim.git |
VCS Type | git |
VCS Version | melodic-devel |
Last Updated | 2023-02-20 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
rb1_base_gazebo | 1.12.0 |
rb1_base_sim | 1.12.0 |
rb1_base_sim_bringup | 1.12.0 |
README
rb1_base_sim
Packages for the simulation of the RB-1 Base
Packages
rb1_base_gazebo
This package contains the configuration files and worlds to launch the Gazebo environment along with the simulated robot.
rb1_base_sim_bringup
Launch files that launch the complete simulation of the robot/s.
Simulating RB-1 Base
1) Install the following dependencies:
This simulation has been tested using Gazebo 9 version. To facilitate the installation you can use the vcstool:
sudo apt-get install -y python3-vcstool
2) Create a workspace and clone the repository:
mkdir catkin_ws
cd catkin_ws
vcs import --input \
https://raw.githubusercontent.com/RobotnikAutomation/rb1_base_sim/melodic-devel/repos/rb1_base_sim.repos
rosdep install --from-paths src --ignore-src -y
3) Compile:
catkin build
source devel/setup.bash
4) Launch RB-1 Base simulation (1 robot by default, up to 3 robots):
- RB-1 Base:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch
Optional general arguments:
<arg name="launch_rviz" default="true"/>
<arg
name="gazebo_world"
default="$(find rb1_base_gazebo)/worlds/demo.world"
/>
Optional robot arguments:
<!--arguments for each robot (example for robot A)-->
<arg name="id_robot_a" default="robot"/>
<arg name="launch_robot_a" default="true"/>
<arg name="has_elevator_robot_a" default="true"/>
<arg name="x_init_pose_robot_a" default="0.0" />
<arg name="y_init_pose_robot_a" default="0.0" />
<arg name="z_init_pose_robot_a" default="0.0" />
<arg name="init_yaw_robot_a" default="0.0" />
<arg name="gmapping_robot_a" default="false"/>
<arg name="amcl_and_mapserver_robot_a" default="true"/>
<arg name="map_frame_robot_a" default="$(arg id_robot_a)_map"/>
<arg
name="map_file_robot_a"
default="$(find rb1_base_localization)/maps/demo/demo.yaml"
/>
<arg name="move_base_robot_a" default="true"/>
<arg name="pad_robot_a" default="true"/>
- Example to launch simulation with 3 RB-1 Base robots:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
launch_robot_a:=true \
launch_robot_b:=true \
launch_robot_c:=true
- Example to launch simulation with 1 RB-1 Base robot with navigation and localization:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
launch_robot_a:=true \
move_base_robot_a:=true \
amcl_and_mapserver_robot_a:=true
- Example to launch simulation with 2 RB-1 Base robot with navigation and localization sharing the same global frame:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
launch_robot_a:=true \
amcl_and_mapserver_robot_a:=true \
move_base_robot_a:=true \
map_frame_a:=/map \
launch_robot_b:=true \
amcl_and_mapserver_robot_b:=true \
move_base_robot_b:=true \
map_frame_b:=/map
- Example to launch simulation with 3 RB-1 Base robot with navigation and localization sharing the same global frame:
roslaunch rb1_base_sim_bringup rb1_base_complete.launch \
launch_robot_a:=true \
amcl_and_mapserver_robot_a:=true \
move_base_robot_a:=true \
map_frame_a:=/map \
launch_robot_b:=true \
amcl_and_mapserver_robot_b:=true \
move_base_robot_b:=true \
map_frame_b:=/map \
launch_robot_c:=true \
amcl_and_mapserver_robot_c:=true \
move_base_robot_c:=true \
map_frame_c:=/map
Comands and data retreving
Enjoy! You can use the topic ${id_robot}/robotnik_base_control/cmd_vel
to control the RB-1 Base robot:
rostopic pub /robot/robotnik_base_control/cmd_vel geometry_msgs/Twist "linear:
x: 0.1
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0" -r 10
or if you have launched move_base, you can send simple goals using /${id_robot}/move_base_simple/goal
:
rostopic pub /robot/move_base_simple/goal geometry_msgs/PoseStamped "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: 'robot_map'
pose:
position:
x: 3.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0"
Docker usage
In order to run this simulation you will need nvidia graphical accelation
Installation of required files
- docker
- nvidia-docker
- nvidia-drivers
Usage
git clone https://github.com/RobotnikAutomation/rb1_base_sim.git
cd rb1_base_sim
git checkout melodic-devel
cd docker
export ROS_BU_PKG="rb1_base_sim_bringup"
export ROS_BU_LAUNCH="rb1_base_complete.launch"
docker compose up
Docker permission fix
In order to run this simulation it's mandatory to the current linux user to have full docker permission. If the script fails due to that, please execute the following command:
sudo usermod -aG docker $USER
newgrp docker
Selecting the robot model
You can select the robot, the launch file of package using the optional arguments on launch
By default the selected robot is rb1_base
docker/simulation-in-container-run.sh --help
ROBOTNIK AUTOMATION S.L.L. 2021
Simulation of RB1 BASE using docker
Usage:
docker/simulation-in-container-run.sh [OPTIONS]
Optional arguments:
--robot -r ROBOT Select robot to simulate
Valid robots:
multirobot_2 multirobot_3 rb1_base
default: rb1_base
--launch -l Select launch file
default: rb1_base_complete.launch \
launch_robot_a:=true \
move_base_robot_a:=true \
amcl_and_mapserver_robot_a:=true
--package -p Select ros package
default: rb1_base_sim_bringup
--ros-port -u PORT Host ros port
default: 11345
--gazebo-port -g PORT Host ros port
default: 11345
-h, --help Shows this help
2 robots simulation
docker/simulation-in-container-run.sh --robot multirobot_2
3 robots simulation
docker/simulation-in-container-run.sh --robot multirobot_3
Manual Build
If you wish to build manually the image without the use of the script use one the following commands:
Optiona A
cd docker
docker build -f Dockerfile ..
Option B
docker build -f docker/Dockerfile .
Notes
- This is docker requires a graphical interface
- The ros master uri is accesible outside the container, so in the host any ros command should work
- You could also run a roscore previous to launch the simulation in order to have some processes on the host running
- if you want to enter on the container use the following command in another terminal
docker container exec -it docker-base-1 bash
- In order to exit you have to 2 options
- Close
gazebo
andrviz
and wait a bit - execute in another terminal:
docker container rm --force rb1_base_sim_instance