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Last pushed: 2 years ago
Short Description
icub+ipython+gazebo
Full Description

docker-image

This repository is simulation environment for easy use.

Library

Gazebo

  • Gazebo version : 6.5.1
  • gzweb6

icub-gazebo

You can use icub. In this docker image, you can use icub and icub_with_cameras.

If you want to use other icub data and you use gzweb, copy directory in icub-gazebo/ to gzweb/http/client/assets/

ex)You want to use icub_feet_fixed,run this docker images in /bin/bash/ and run below,

cp -r icub-gazebo/icub_feet_fixed gzweb/http/client/assets/

YARP

  • YARP version : 2.3.64.13

For control icub. And install python bindings.

If YARP say Aborting,delete /root/.config/yarp/yarp.conf.

gazebo-yarp-plugins

  • install in usr/local

anaconda

  • anaconda version : 2.2.0

For ipython notebook ,and chainer.

<strong> [Warning] </strong>
In this docker image all hosts connect ipython notebook.
If you don't want it, pleasse set ipython notebook your own.

Xvfb(X virtual framebuffer)

For gzserver start.

This software make virtual display for X11.

How to use

1.run docker image in /bin/bash

sudo docker run -it -p 7681:7681 -p 8080:8080 -p 8888:8888 <imageID> /bin/bash

  • port 7681 and 8080 is needed by gzweb.

  • port 8888 is needed by ipython notebook.

2.run programs

cd ~/

./start_program.sh

Then, when programs operate correctly, ps includes node ,node , ipython, yarpserver, gzserver and Xvfb.

3.start simulator and ipython notebook

In your host PC, you access

http://<your docker IP>:8080

http://<your docker IP>:8888

in your web browser.

4.stop programs

./stop_program.sh

note

Soon You push this image, gzweb can't display thumnails. Then, after sudo docker run -it -p 7681:7681 -p 8080:8080 -p 8888:8888 <imageID> /bin/bash
, in docker terminal

vfb :1 -screen 0 1024x768x16 &> xvfb.log &
and
~/deploy.sh -t.

Docker Pull Command
Owner
syoamakase
Source Repository