Build the docker image and run the simulation

Dockerfiles

• The Dockerfile(s) can be found here.
• Some applications don't behave nicely on yarpmanager (ex gazebo due to clock), so they are run separately with a .sh file.

Launching the simulation:

Building the Dockerfile

• Make sure you have docker installed and experimental features enabled. Docker instructions

• To build the dockerfile execute: cd docker_stuff/docker_sim/./build-docker.sh

Launching the image

• To launch the simulation image run: ./start-docker-sim.sh from the directory of the dockerfile
• If the image was not build before this will attempt to download the latest version from Dockerhub.

Starting the sim world

• Inside the docker container execute: cd ~/tour-guide-robot/app/navigation/scripts/./start_sim.sh
• The command will open a gazebo world with the R1 loaded, yarplogger, yarpserver, a yarpun server and yarpmanager.

Using navigation from yarpmanager

• Open the app Navigation_ROS_R1_SIM
• Run all the modules one by one in order, waiting for the previous one to fully load (pay attention if navigationGUI starts correctly)
• Connect all the yarp connections
• Localize twice in yarp navigationGUI and check that the map appears in Rviz
• If in Rviz you see the local costmap, global costmap, lidar and the voxels, you are ready to navigate

Launching the simulation with docker-compose (experimental)

• go inside the correct directory cd docker_stuff/docker_sim2
• build the docker docker-compose build
• allow host to connect to gui sudo xhost +
• run the simulation sudo docker-compose up
• then you can run yarpmanager programs as above