This directory contains a container based turtlebot simulator that can be driven via keybaord input. To run turtlebot locally:
docker run -it --net host -a stderr -a stdin -a stdout formant/turtlebot
You will see output like this if everything is working properly:
setting up xvfb display...
starting up roscore...
/catkin_ws /
launching turtlebot house...
launching turtlebot slam...
launcing turtlebot simulation...
... logging to /root/.ros/log/70600cda-b4a7-11ea-b06b-144f8ad1a849/roslaunch-abraham-fw-269.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://abraham-fw:45739/
SUMMARY
========
PARAMETERS
* /cmd_vel_topic_name: /cmd_vel
* /rosdistro: melodic
* /rosversion: 1.14.6
NODES
/
turtlebot3_drive (turtlebot3_gazebo/turtlebot3_drive)
ROS_MASTER_URI=http://localhost:11311
process[turtlebot3_drive-1]: started with pid [406]
[ INFO] [1592844199.963400171]: TurtleBot3 Simulation Node Init
We use --net=host so you can run local tools like rviz or the formant agent against the simulation. We also limit the number of cpu's. There are a number of environment variables that can be set:
HOUSE=1: setting this uses the house environment for turtlebot. Default is world.SLAM=1: setting this enables slam with gmapping. It will default to loading the basic world map.TELEOP=1: setting this enables turtlebot_teleop_key.launch for commanding the turtlebot from the command line. Make sure to pass -a stderr -a stdin -a stdout so that input is redirected.Content type
Image
Digest
Size
1.3 GB
Last updated
over 5 years ago
docker pull formant/turtlebot