pstlab/bci repository overview

⁠IEEE RO-MAN 2025

Installation instructions for the scenarios designed for IEEE RO-MAN 2025.

Pull the docker image associated with the tag roman25 as follows:

docker pull pstlab/bci:roman25

All the ROS nodes are expected to run inside the container to support multiple platforms. To correctly execute the nodes the container must access the USB camera, the Microphone and the Speaker devices of the host machine.

To do so, once the image has been pulled, run a container using the command below:

docker run -it --network host --device /dev/snd --device /dev/video0 -e PULSE_SERVER=unix:${XDG_RUNTIME_DIR}/pulse/native -v ${XDG_RUNTIME_DIR}/pulse/native:${XDG_RUNTIME_DIR}/pulse/native -v ~/.config/pulse/cookie:/root/.config/pulse/cookie --group-add $(getent group audio | cut -d: -f3) --name roman25 pstlab/bci:roman25 /bin/bash

Some scripts are available inside the container to start and stop the scenario. The scripts are located inside the folder /root/bin, The folder is added to the $PATH variable, and the contained scripts can be run everywhere inside the container.

The container is run with the option --network host, so in case the ROS master is already running on the host machine, start the scenario by issuing the following command inside the container

roman25_start

It runs separately all the ROS nodes necessary and saves the logs inside under the folder /root/log inside the respective files.

In case no ROS MASTER instance is running locally, it is possible to start both ROS and the nodes using the command:

roman25_start_roscore

To stop the execution of the nodes use the command:

roman25_stop

Please note that this command kills all the ROS nodes of the interaction scenario but not the roscore.