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--- teaching:se-kiba15 [2015/06/12 14:08] – created balintbe
+++ teaching:se-kiba15 [2016/05/19 09:19] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
 ====== 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
@@ Line 11: / Line 11: @@
 **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
-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 .
 Set a flag to signal the system the use of a custom docker image
   export EUROC_CUSTOM_CONT=true
-Launch docker:
+Launch the docker container:
   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!