Skip to content

This repository contains the necessary elements (code and artifacts) to build a ROS Noetic container suitable to execute GUI applications in Nvidia and non-NVidia docker environments. It includes the possibility to run simulations for the TurtleBot 3 robot and the ARDrone UAV.

Notifications You must be signed in to change notification settings

PXLAIRobotics/ROSNoeticDocker

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

82 Commits
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

Repository files navigation

ROSNoeticDocker

This repository contains the necessary elements (code and artifacts) to build and run a ROS Noetic container suitable to execute GUI applications in Nvidia and non-Nvidia docker environments. It includes the possibility to run simulations for the TurtleBot 3 robot and the AR.Drone.

The container is equipped with a few development and network-debug tools such as vim, tmux, git, ping-utils, ... in order to program the robot and to diagnose any issue.

!!! Note: Do not clone this repository into a path containing a space !!!

Prerequisites

  • A UNIX-like operating system, preferably Linux. (Ubuntu 20.04 is recommended.)
  • The glxinfo command. (It's included with the mesa-utils package on Ubuntu. So, install this on the Linux host before building this repository. On an Ubuntu host, execute sudo apt install mesa-utils to install glxinfo.)
  • An operational docker daemon.
  • A terminal with a Nerd Font is highly recommended. (Nerd Font Download page)
  • Standard Bash and basic ROS knowledge.
  • A Nvidia graphics card capable of running hardware accelerated graphics. Although, any recent AMD or Intel GPU will also work flawlessly.

Screenshots

The end result will be an Ubuntu 20.04 Docker container capable of running ROS Noetic (GUI) systems. A few virtual worlds are also included. The following screenshots depict this perfectly.

The terminal after starting the container.

Running GUI applications, including OpenGL should be possible.

One of the included virtual worlds, summerforall, equipped with an AR.Drone or a Turtlebot3.

Known issues

If Nvidia docker returns the following error:

   Docker: Error response from daemon: could not select device driver "" with capabilities: [[gpu]].

Look at the following site to solve it:

https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#install-guide

How to build the container

A bash script is provided to build the container, it can be executed by entering the following command:

   $ ./001_build_images.sh

How to start the container

To start the container execute the script below:

   $ ./003_start_pxl_noetic_full_desktop.sh

This script will check the available GPU and start the container accordingly.

There's also an 004 script which adds webcam support to the container.

   $ ./004_start_pxl_noetic_full_desktop_with_webcam.sh

To use multiple bash shells in the container, It's advised to either work with tmux or execute the script with prefix 005 from the host:

   $ ./005_attach_bash_to_noetic_full_desktop.sh

Pro-tip: Learn to use tmux. It's awesome!

How to run the TurtleBot 3 simulations

There are three types of Turtlebot3 to choose from, an environment variable sets the desired one. Use the export bash command to set this variable. The following table depicts the possible values.

Type export command
Burger export TURTLEBOT3_MODEL=burger
Waffle export TURTLEBOT3_MODEL=waffle
Waffle Pi export TURTLEBOT3_MODEL=waffle_pi

For example:

   <in the container> $ export TURTLEBOT3_MODEL=burger

After setting the required variable for the robot type, a simulated world can be started. The turtlebot3_gazebo package incorporates several worlds, exempli gratia an empty world and even a racetrack.

To start a turtlebot3 in an empty world, execute the next command:

   <in the container> $ roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

A different world will start if the second parameter is changed to a different value (file). The container is equipped with auto-completion. Use the <TAB> key to automatically list all the existing worlds.

The racetrack, which will always start the burger type, is launched by submitting the following command to bash:

   <in the container> $ roslaunch turtlebot3_gazebo turtlebot3_autorace_2020.launch 	

To control the robot via the keyboard a teleop node needs to be started in a separated Bash shell, after executing the export command to set the correct robot type.

For example to control the burger in the auto racetrack:

   <in the container> $ export TURTLEBOT3_MODEL=burger
   <in the container> $ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

About

This repository contains the necessary elements (code and artifacts) to build a ROS Noetic container suitable to execute GUI applications in Nvidia and non-NVidia docker environments. It includes the possibility to run simulations for the TurtleBot 3 robot and the ARDrone UAV.

Topics

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published