This repository is being used to develop a possible integration between Jason and ROS.
This is being done by customizing the agent architecture, AgArch class, to include ROS functionalities. And in order to add those functionalities rosjava and rosbridge java api are being explored. We will take in consideration the advanteges and disadvantages of both before commiting to one.
Docker images containing this repo and needed environment can be found at dockerhub.
armv7 version at branch armv7
Build image
$ docker build --tag jason-ros:melodic .
Create network:
$ docker network create ros_net
Container 1:
$ docker run -it --rm --net ros_net --name master --env ROS_HOSTNAME=master --env ROS_MASTER_URI=http://master:11311 jason-ros:melodic roslaunch rosbridge_server rosbridge_websocket.launch address:=master
Container 2:
$ docker run -it --rm --net ros_net --name agent --env ROS_HOSTNAME=agent --env ROS_MASTER_URI=http://master:11311 jason-ros:melodic jason rosbridge_agents.mas2j
Container 3:
$ docker run -it --rm --net ros_net --name echo --env ROS_HOSTNAME=echo --env ROS_MASTER_URI=http://master:11311 jason-ros:melodic
Then:
$ rostopic pub -1 /jason/percepts std_msgs/String teste
In order to customize the agent application you can put your agent code inside rosbridge_agents folder or alter the following lines:
## Copy Jason files
COPY rosbridge_agents /rosbridge_agents
WORKDIR /rosbridge_agents
RUN ["/bin/bash","-c","mkdir -p lib && cp /java_rosbridge/target/java_rosbridge-2.0.2-jar-with-dependencies.jar lib/"]
When pulling the image from Dockerhub just modify the lines above and add to your Dockerfile
Content type
Image
Digest
sha256:3fa66093a…
Size
923.1 MB
Last updated
over 3 years ago
docker pull rezenders/jason-ros