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--- teaching:se-kiba15 [2015/06/12 14:42] – balintbe
+++ teaching:se-kiba15 [2016/05/19 09:19] (current) – external edit 127.0.0.1
@@ 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
-**All of the following commands are supposed to be executed from docker!!**
+**All of the following commands are supposed to be executed within docker!!**
-Before you can start hacking, you need to compile the catkin workspace that comes with the docker
+Before you can start hacking, you need to compile the catkin workspace that comes with the docker image
-  cd catkin_ws
+  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:
+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'"
+  rosservice call /euroc_c2_task_selector/start_simulator "user_id: ''
+  scene_name: 'task1_v1'"
 Publish the joint states of the robot:
@@ Line 35: / Line 36: @@
   roslaunch pointcloud_publisher run_pointcloud_publisher.launch
-Use rviz to check the camera data and the tf tree.
+Use rviz to check the camera data and the tf tree. All set. Enjoy!