Public Repository

Last pushed: 10 days ago
Short Description
Hakuto Tetris Robot Simulator on gzweb/Gazebo
Full Description

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.
Docker Pull Command
Owner
tork

Comments (0)