Installation and docker usage

Docker container

Description

The docker container contains2 ROS workspaces:

• /root/jango_ws: with jango_src source folders. These ROS packages are also present in the real robot, and it's useful for us to run Moveit and Rviz with the robot's meshes(from tor42_ridgeback_description) for motion planning from a remote computer.
• /root/aotm_ws: with atom_src source folders. This includes a preconfigured ATOM ROS package for calibrating extrinsic between Jango's many sensors. Check out wiki page on this to follow the steps required to use the ATOM framework.

Usage

The instructions below are tested for Ubuntu 20.04 Clone the repository

git clone https://github.com/uoft-cs-robotics/jango
cd jango 

Install docker.io and docker-compose and depending on the version of docker-compose run either, and make sure docker is added to sudo group in ubuntu-

docker-compose -f docker-compose -f docker/docker-compose-gui.yml build

or

docker compose -f docker-compose -f docker/docker-compose-gui.yml build

This builds the image to create the container, run-

docker-compose -f docker-compose -f docker/docker-compose-gui.yml create

or

docker compose -f docker-compose -f docker/docker-compose-gui.yml create

To start the container run

docker-compose -f docker-compose -f docker/docker-compose-gui.yml start

or

docker compose -f docker-compose -f docker/docker-compose-gui.yml start

Our docker container is now running, we need to now access a terminal inside the container using-

docker exec -it docker_jango bash