User Tools

Site Tools


teaching:se-kiba15

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Next revision
Previous revision
teaching:se-kiba15 [2015/06/12 14:08] – created balintbeteaching:se-kiba15 [2016/05/19 09:19] (current) – external edit 127.0.0.1
Line 1: Line 1:
 ====== Setting up the docker environment ====== ====== Setting up the docker environment ======
  
-Start with downloading the EuRoC project archive from StudIP. Extract it in your home folder. +Start with downloading the EuRoC project archive from [[https://toychest.ai.uni-bremen.de/wiki/_media/tmp:euroc.tar.gz|here]]. Extract it in your home folder. 
   tar -xvf euroc.tar.gz   tar -xvf euroc.tar.gz
      
Line 11: Line 11:
      
 **NOTE:** **NOTE:**
-If you have an nvidia or ATI graphics card, make sure that you create a new Docker image that has **exactly the same driver** installed as your system.+If you have an nvidia or ATI graphics card, create a new Docker image that has **exactly the same driver** installed as your system.
   cp ~/euroc/euroc_launch/docker/euroc-suturo-custom/Dockerfile.template ~/euroc/euroc_launch/docker/euroc-suturo-custom/Dockerfile   cp ~/euroc/euroc_launch/docker/euroc-suturo-custom/Dockerfile.template ~/euroc/euroc_launch/docker/euroc-suturo-custom/Dockerfile
-Modify the newly created Dockerfile so that it installs your drivers(examples can be found commented in the template). Build your new image:+Modify the newly created Dockerfile so that it installs your drivers(examples can be found commented in the template). Build your new image(name **is important**):
   docker build -t suturo/euroc-suturo-custom .   docker build -t suturo/euroc-suturo-custom .
 Set a flag to signal the system the use of a custom docker image Set a flag to signal the system the use of a custom docker image
   export EUROC_CUSTOM_CONT=true   export EUROC_CUSTOM_CONT=true
      
-Launch docker:+Launch the docker container:
   dockuro   dockuro
-In docker start the experiment: +**All of the following commands are supposed to be executed within docker!!**  
-  /opt/euroc+Before you can start hacking, you need to compile the catkin workspace that comes with the docker image 
 +  cd ~/catkin_ws 
 +  catkin_make 
 +   
 +To start the experiment run
 +  /opt/euroc_c2s1/start_euroc_task_selector 
 +In another terminal run dockuro again and start the simulator by running(copy paste both lines together): 
 +  rosservice call /euroc_c2_task_selector/start_simulator "user_id: ''  
 +  scene_name: 'task1_v1'"  
 +   
 +Publish the joint states of the robot: 
 +  roslaunch suturo_manipulation_moveit publish_joint_state.launch 
 +Start a node to publish point clouds: 
 +  roslaunch pointcloud_publisher run_pointcloud_publisher.launch
    
 +Use rviz to check the camera data and the tf tree. All set. Enjoy!
 +  
teaching/se-kiba15.1434118081.txt.gz · Last modified: 2016/05/19 09:18 (external edit)

Donate Powered by PHP Valid HTML5 Valid CSS Driven by DokuWiki