tork/hakuto repository overview
What is this
This image runs lunar rovers at Hakuto, in particular Moon exploration rover named Tetris , in a simulated lunar surface on web browse based on Gazebo/ROS systems
How to run
Install Docker
You need to install docker on you machine, currently Linux is the best supported platform but you may try with Windows and Mac OS X. Here is instruction for Ubuntu 14.04;
apt-get install -y curl
curl -sSL https://get.docker.com/ | sh
Following instructions assume that you added your account to docker groups, this may have
security risk , otherwise run docker with sudo command.
sudo usermod -aG docker $USER
To verify whether if you successfully installed the docker, try
docker run hello-world
Running the simulation
To launch robot simulation
docker run --rm --name hakuto \
-p 80:80 -p 8080:8080 -p 7681:7681 \
-p 9001:9001 -p 9090:9090 -t tork/hakuto
Now you can access to web-based visualizer at http://localhost:8080, also you can see virtual joystick at http://localhost/joystick.html
firefox http://localhost:8080
firefox http://localhost/joystick.html
If you're familiar with ROS, you can try
ROS_IP=172.17.0.1 ROS_MASTER_URI=http://172.17.0.2:11311\
rostopic pub /tetris/cmd_vel geometry_msgs/Twist '{linear: {x: 1}}'
Troubleshooting
You can attach bash in the docker container by
docker exec -i hakuto bash -i
bind: address already in use
docker: Error response from daemon: failed to create endpoint admiring_stallman on network bridge: Error starting userland proxy: listen tcp 0.0.0.0:9001: bind: address already in use.
$ sudo lsof -i :9001
COMMAND PID USER FD TYPE DEVICE SIZE/OFF NODE NAME
superviso 1866 root 4u IPv4 17572 0t0 TCP *:9001 (LISTEN)
$ sudo /etc/init.d/supervisor stop
Stopping supervisor: supervisord.
Tag summary
Content type
Image
Digest
Size
1.7 GB
Last updated
about 9 years ago
docker pull tork/hakuto