hypothe/sofar_ros repository overview

⁠Prepping

Contains the main baxter packages and the rso noetic environment already sourced.

Run it with

docker run -dit -p 6080:80 -p 5901:5900 -p 22:22 -p 10000:10000/tcp -p 10000:10000/udp --name sofar_ros hypothe/sofar_ros:production

(Port 10000 here is opened and forwarded for Unity communication) Also please notice that for using VNC the port to look at should be 5901.

Notice that the ROS_IP is auto-set here by the system, something less to worry about!

⁠Note on Unity side

In the simulation environtment set the ROS_IP to 127.0.0.1, port 10000. Moreover, set the "Override Unity IP Address" field to the IP of your machine that the docker sees from "inside". To know that start the docker image, install ping with apt-get install iputils-ping and then perform

ping host.docker.internal

And see which IP gets ping-eg. Take note of that and insert it were mentioned inside Unity.

After launching it, Unity might give you an error message regarding the socket connection, in wihch case open the file at SofAR-Human-Robot-Collaboration\Unity Project\Human-Robot-Collaboration\Library\PackageCache\com.unity.robotics.ros-tcp-connector@ab45157ad3\Runtime\TcpConnector\ROSConnection.cs

and modify line 352

- tcpListener = new TcpListener(IPAddress.Parse(ip), port);

+ tcpListener = new TcpListener(IPAddress.Any, port);

Going back in the editor after saving the changes to the script auto-recompiles, so don't worry about that!

⁠Port Opening

The docker port 10000 is already opened and bound to the localhost:10000, but we need to open the 'inbound port on the host machine (aka, the one the server will look at and ROS will write to). By default such port is 5005 but you might have to change it if it's already taken. For opening the port see open a port on windows firewall⁠.

⁠Running everything

1. Launch the MMLauncher.exe from EnvironmentSprint13\Environment\Launcher
2. Launch the nodes from ROS (see above)
3. Play the Unity3D simulation: you should see two buttons in the bottom right corner, press them to make the human start its simulation

⁠FIXES

• automatized docker IP retrieval on shell launch