utiasasrl/convoy-demo repository overview

A stable container of vtr3 for running a demo of the convoy.

The convoy is set to operate in arclength mode with four robots: Mr Green, Colonel Mustard, Mrs Peacock, and Professor Plum. The inter-robot spacing is 2.5 m.

A sample run command is provided. Check that the robots are all time-synchronized before running the demo. Only the pose graph storage folder is shared to the outside environment to prevent accidental modification. You will need to manually copy the shared pose graph to each robot before running the demo.

docker run -it --name convoy_demo \
  --privileged \
  --network=host \
  --ipc=host \
  --gpus=all \
  --runtime=nvidia \
  -e USER_ID=$(id -u) \
  -e GROUP_ID=$(id -g) \
  -e USER_NAME=$(id -un) \
  -v ${VTRTEMP}:${VTRTEMP}:rw \
  -v /dev:/dev \
  -e ROBOT_NAME=${ROBOT_NAME} \
  utiasasrl/convoy-demo

Once in each container, run

tmuxp load $VTRSRC/launch/online_ouster_hunter_convoy.launch.yaml

The convoy manager must be run inside Mr Green's container. After detaching from the main session or in another terminal, run

tmuxp load $VTRSRC/launch/hunter_convoy_manager.launch.yaml

You can navigate to http://green-jetson:5200⁠ to use the GUI.