This repository stores the development environment for a gazebo lidar plugin that takes samples with a time delay, as opposed to taking them all at the same time. This simulates the error of sampling when the robot is moving.
The point of the docker image is to provide a development environment that is independent of the underlying machine. Work is meant to be done inside the running container. The workspace is mounted as a volume, so changes don't get lost.
Dependencies are tracked in the apt-dependencies.txt and pip-dependencies.txt files, as well as installed "manually" from within the Dockerfile. Whenever any of these dependencies change, the image has to be rebuilt.
docker compose build starter_repoRun an instance of the image.
docker compose run starter_repoInside, you can use git for version control. To share git users, the ~/.ssh directory is mounted inside the container. To access the remote, you need to have you GitHub access keys set up.
The environment is set up by sourcing the file named environment from the ~/.bashrc. To change environment variables or setup, modify that file.
ROS commands can also be run inside the container. Run the stack with
ros2 launch gazebo_rotating_lidar_plugin full_bringup.launch.pyGive a 2D Pose Estimate via Rviz2 to have a starting position for the robot.
To contribute, fork this repo and open a pull request. Please make sure to add or update documentation and add tests as appropriate.
Enjoy Robotics Zrt. - All rights reserved.