teaching:se-kiba15
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====== 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:// |
tar -xvf euroc.tar.gz | tar -xvf euroc.tar.gz | ||
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**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 ~/ | cp ~/ | ||
- | 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/ | docker build -t suturo/ | ||
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 | ||
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- | Launch docker: | + | Launch |
dockuro | dockuro | ||
- | In docker start the experiment: | + | **All of the following commands are supposed to be executed within |
- | /opt/euroc | + | Before you can start hacking, you need to compile the catkin workspace that comes with the docker image |
+ | cd ~/ | ||
+ | catkin_make | ||
+ | |||
+ | To start the experiment | ||
+ | /opt/euroc_c2s1/ | ||
+ | In another terminal run dockuro again and start the simulator by running(copy paste both lines together): | ||
+ | rosservice call / | ||
+ | scene_name: ' | ||
+ | |||
+ | 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)