docker installation

In order to run the simulator, docker and docker-compose are necessary.

In the case of a Windows or Mac environment, please install docker for Windows or Mac respectively.

In the case of Linux, please input the following commands and install docker.

$ curl -fsSL https://get.docker.com -o get-docker.sh
$ sh get-docker.sh

If you input the following command, even regular users will be able to execute the docker command.

$ sudo usermod -aG docker <USERNAME>

After executing the above command, log out then log in again.

Input the following command, then verify that docker can execute correctly.

$ docker info

Input the following commands and install docker-compose. As the docker-compose that can be installed via apt-get is old, please input all of the following commands to install the newest version of docker-compose.

$ sudo apt-get remove docker-compose
$ COMPOSE_VERSION=$(wget https://api.github.com/repos/docker/compose/releases/latest -O - | grep 'tag_name' | cut -d\" -f4)
$ sudo wget https://github.com/docker/compose/releases/download/${COMPOSE_VERSION}/docker-compose-`uname -s`-`uname -m` -O /usr/local/bin/docker-compose
$ sudo chmod 755 /usr/local/bin/docker-compose

Usage

Please input the following commands to clone this repository.

$ git clone --recursive https://github.com/pmec-home/zordon_docker.git
$ cd zordon_docker

Download all of the images necessary for running the simulator. As you will be downloading a large amount of data, please execute the following command in an environment that is connected to a high speed network.

$ ./pull-images.sh

Build the workspace image with the depedencies to run the simulator on the ZORDON Project:

$ docker-compose build

Starting the simulator

Please input the following command and start the simulator.

$ docker-compose up

Please open each of the following URLs in a browser, then move on to development.

• The simulator's screen http://localhost:3000
• IDE http://localhost:3001
• jupyter notebook http://localhost:3002

Compiling the Workspace and running the Gazebo envoriment

On the IDE screen (http://localhost:3001), input the following commands to compile the workspace

$ cd /workspace/catkin_ws/
$ catkin_make
$ source /workspace/catkin_ws/devel/setup.bash

To run the gazebo envoriment:

roslaunch zordon_description gazebo.launch