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turtlebot remote

Setup

sourcing ROS

Add the following to your bashrc file for ros and the workspace to be sourced when opening a new terminal in dev_ws. make sure your are not sourcing ROS in your bashrc file.

if [ -f "/dev_ws/setup.bash" ]; then
    source /dev_ws/setup.bash
fi

use

build the image

Running the following command from the root of the repo will execute the build image shell script

.docker/build_image.sh

run the image

Running the following command from the root of the repo will execute the run image shell script

.docker/run_user.sh

with Nvidia support (requires nvidia-docker2)

.docker/run_user_nvidia.sh

Once inside the container, ake ownership of the workspace with

sudo chown -R $USER /dev_ws

terminal

Terminator is installed in the container for multiple terminals launch terminator from the CLI inside the container. Run terminator to start.

navigation

for gmapping run

roslaunch turtlebot_navigation gmapping_demo.launch

to sav map run

rosrun map_server map_saver -f ~/map

for navigation run (map in launch file)

roslaunch turtlebot_navigation amcl_demo_iaac.launch