radarku/ros-2d-nav-sim repository overview

⁠Rover Docker SITL

This Docker Container runs a standalone Rover Gazebo Simulation with a navigation stack for testing. There are two versions:

1. A version that visually shows Gazebo and RViz, but requires nvidia-docker installed on the host machine.
2. A headless version that has no visual frontend, but does not need nvidia-docker.

⁠DockerHub

To run a version with Gazebo and RViz that uses nvidia-docker, run:

xhost +local:root

nvidia-docker run -it \
    --env="DISPLAY" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    -p9090:9090 \
    radarku/ros-2d-nav-sim
    
xhost -local:root

To run the headless version, use standard docker and the headless DockerHub tag:

docker run --rm -it -p9090:9090 radarku/ros-2d-nav-sim:headless

⁠Usage

Checkout the code from GitHub...

To build the container:

./build.sh

To run the container:

./run.sh

⁠Dependencies

The headless version does not have any special dependencies.

For the version that incudes Gazebo and RViz GUIs, we use nvidia-docker. Instructions for setting up and testing nvidia-docker can be found at:

https://github.com/NVIDIA/nvidia-docker⁠

⁠Notes

This project also has the base framework enabled for forwarding X11 through docker