suchetanrs/multirobotslam

MultiRobotSLAM ROS2 Wrapper Docker

This repository contains a humble with turtlebot3 and Gazebo.

Steps to use this wrapper

1. Clone this repository

1. git clone https://github.com/suchetanrs/MultiRobotSLAM
2. cd MultiRobotSLAM

2. Install Docker on your system

cd MultiRobotSLAM
sudo chmod +x docker_install.sh
./docker_install.sh

3. Build the image

1. Build the image: sudo docker build -t ros2-base:22.04 .
2. Add xhost + to your .bashrc to support correct x11-forwarding using echo "xhost +" >> ~/.bashrc
3. source ~/.bashrc
4. You can see the built images on your machine by running sudo docker images.

4. Running the container

1. cd MultiRobotSLAM (ignore if you are already in the folder)
2. sudo docker compose run ros2-base
3. This should take you inside the container. Once you are inside, run the command xeyes and a pair of eyes should pop-up. If they do, x11 forwarding has correctly been setup on your computer.

5. Building the packages

Launch the container using steps in (4).

source /opt/ros/humble/setup.bash
cd /root/ros2_ws/
colcon build --symlink-install
source install/setup.bash

Launching Gazebo FIRST TIME

Launch the container using steps in (4). If you are inside the container, run the following:

1. ros2 launch gazebo_ros gazebo.launch.py Since this is the first time, it will take a while to load gazebo. Please be patient. It will load well from the second time.

Launching Turtlebot3

Remember to source /opt/ros/humble/setup.bash as well as ros2_ws/install/setup.bash