Getting Started

How to use it

Using Docker:

The Docker image is available in https://github.com/Adorno-Lab/docker_recipes/blob/main/ubuntu_24/ros_jazzy_vicon/Dockerfile.

Clone and build the image

cd ~/Downloads
git clone https://github.com/Adorno-Lab/docker_recipes.git --recursive
cd ~/docker_recipes
docker build -t ubuntu_24_ros_jazzy_vicon ubuntu_24/ros_jazzy_vicon/

Run the image using the run_container.sh script.

sh run_container.sh ubuntu_24_ros_jazzy_vicon ubuntu_24_ros_jazzy_vicon

Using Docker compose (recommended):

Just include the following service in your compose.yaml. Modify the ROS_DOMAIN_ID accordingly.

services:
  ros_jazzy_vicon:
    build: https://github.com/Adorno-Lab/docker_recipes.git#main:ubuntu_24/ros_jazzy_vicon
    environment:
      DISPLAY: $DISPLAY  # x server related
      ROS_DOMAIN_ID: 1 # Set ROS domain ID for all ROS2 nodes
    privileged: true # Needed for some gpu configurations.
    volumes:
      #- repo-data:/root/sas_tutorial_workspace/src/sas_ur_control_template/
      - /tmp/.X11-unix:/tmp/.X11-unix # x server related
      - ~/.Xauthority:/root/.Xauthority # x server related
    network_mode: "host" # x server related and for ROS2 networking
    ipc: "host"
    command: /bin/bash -c "
      source /opt/ros/jazzy/setup.bash;
      cd ~/ros2_ws/ && colcon build;
      source ~/ros2_ws/install/setup.bash;
      ros2 launch motion_capture_tracking launch.py"

Run and enjoy!

xhost +local:root
docker compose up --build

How to subscribe to the /tf data?

The Adorno-Lab/sas_unitree_b1z1_control_template contains a control template to command the UnitreeB1Z1 robot and uses the VICON data. The sas_monitor_coppeliasim package performs a subscription to the tf topic provided by the motion capture system.