Program Bot

Testing Program bot Simulation in docker

Installation

Docker

You can find these installation instructions here.

Installing Docker

Install docker using convenience script

sudo apt-get install curl
curl -fsSL get.docker.com -o get-docker.sh
sudo sh get-docker.sh

Steps to use docker without having to use sudo

sudo groupadd docker
# Add your user to the docker group.
sudo usermod -aG docker $USER
# Close the terminal or restart computer to see effects

Setting up the workspace on users computer

mkdir -p ~/programbot/home

enable access to xhost from the container

xhost +

Run docker and open bash shell

docker run -it --privileged --env="DISPLAY" --env="QT_X11_NO_MITSHM=1" -v ~/programbot/home:/home/:rw --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" -p 14556:14556/udp --name=programbot avi241/programbot:updated bash

Try running gazebo

gazebo

To open a new bash shell of this container

docker exec -it programbot bash

To Run Simulation

roslaunch inter_iit_sbb_description empty_world.launch

To run controller

rosrun inter_iit_sbb_description controller.py

To edit controller Code

gedit ~/catkin_ws/src/inter_iit_sbb_description/scripts/controller.py