nozomi-sk/tiago-docker

TIAGO-DOCKER

ROS Version: Melodic

A docker-compose project with the TIAGO Public simulation.

Prerequisites

Docker installation instructions: https://docs.docker.com/install/

Docker Compose instructions: https://docs.docker.com/compose/install/

Nvidia docker https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/user-guide.html

NVIDIA settings

For the NVIDIA option this has been tested on the following systems using NVIDIA docker2:

Ubuntu distribution	Linux Kernel	Nvidia drivers
20.04	5.4.0 5.8.0	nvidia-driver-460 (works)

How to install

The following commands need to be run in local shell (not inside the container)

1. Clone this repository. (assume you cloned this into <tiago_docker-path>)

2. cd <tiago_docker-path>

3. ./install.sh

4. Append the following commands to your ~/.bashrc file.

Don't forget to replace <tiago_docker-path> with the location of where you clone this repository. (The <tiago_docker-path> must be a valid absolute path, if you don't know this path, run pwd command to show.)

export TIAGO_DOCKER_ROOT=<tiago_docker-path>
export PATH=$PATH:$TIAGO_DOCKER_ROOT/bin

Then run source ~/.bashrc to make the above changes take effect.

5. Run tiago_up to start the container.

6. Run tiago_bash to open a new terminal.

7. When you want to stop the container, please run tiago_stop.

A Quick demo

1. Run tiago_up

2. Run tiago_bash , then you will enter a internal shell of the container. You can see a TIAGO alert in the left side.

3. Execute roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true robot:=titanium world:=simple_office_with_people inside the container shell. Gazebo will show up with TIAGO in the following world.

4. Open a new local terminal then run tiago_bash. Then execute rosrun key_teleop key_teleop.py inside the container shell.

5. Now you can control TIAGO by using your keyboard.

Some tips

1. <tiago_docker-path>/tiago_home is mounted as your home directory inside the container. Your data that needs to be persisted should be saved there to prevent loss.

2. If the Gazebo is shown in full-screen without window control, press F11 twice to escape.

3. The container will bind directly to the host's network. The SSH service inside the container will use port 2222, and the ROS master node will use port 11311 by default.

4. If you want to make changes with your ROS environment, you have to edit .ros_profile instead of .bash_rc in your container. This .ros_profile will be loaded by .bashrc and the remote python wrapper depends on it.

Working with PyCharm

1. Make sure your SSH public/private keys are ready.

2. Use PyCharm to open your project and then create a remote Python interpreter.

Python interpreter path should be /usr/bin/pythonr

3. Now you have code hints and auto complete.

References

1. ROS rocker https://github.com/osrf/rocker