docker-ros-gazebo-ubuntu20

Docker file for creating the Ubuntu20 desktop with ROS noetic, Juypter notebook, and Gazebo installed

You can find the image from the docker hub:
bennyplo1218/ros-gazebo-20:latest

To build the docker image

$./build_docker

To run the docker image

$./Rundocker

Set up the software

You may need to set up the docker resources to ensure that you have sufficient space/memory for running the programs.
1. Start the Docker Desktop then click the setup button
2. Then select Resources, you will then be able to adjust the memory/disk space for your docker images
Once you are able to get onto the linux desktop screen via a web browser, do the following:
a)start the terminal program
b)Go to the ~/catkin_ws directory

$cd ~/catkin_ws

c)Build the catkin

$catkin build --summary

d)If you see errors, try running the “catkin build” again
e)Set up the envirionment:

$source ~/catkin_ws/devel/setup.bash

Note: the username and password are both: ubuntu

Issues found in catkin build (due to dVRK cisst)

1. When running the “$catkin build –summary”, and you see errors, such as:

Make Error at /home/ubuntu/catkin_ws/src/cisst-saw/sawForceDimensionSDK/example/CMakeLists.txt:25 (find_package): 
Could not find a configuration file for package “cisst” that is compatible with requested version “1.0.11”….
The following configuration files were considered but not accepted:
/home/ubuntu/catkin_ws/devel/cmake/cisst-config.cmake, version 1.1.0

2. Edit the file:

$sudo nano /home/ubuntu/catkin_ws/src/cisst-saw/sawForceDimensionSDK/example/CMakeLists.txt

3. and change the following

find_package(cisst 1.0.11 REQUIRED ….)

4. To

find_package(cisst 1.1.0 REQUIRED ….)

Note: you may have to edit a few files like this….

1. When running the “$catkin build –summary”, and you see errors, such as:

Make Error at /home/ubuntu/catkin_ws/src/dvrk-ros/dvrk_robot/CMakeLists.txt:66 (find_package): 
Could not find a configuration file for package “sawIntuitiveResearchKit” that is compatible with requested version “2.1.0”….
The following configuration files were considered but not accepted:
/home/ubuntu/catkin_ws/devel/share/sawIntuitiveResearchKit/cmake/sawIntuitiveResearchKitConfig.cmake, version 2.0.1

2. Edit the file:

$sudo nano /home/ubuntu/catkin_ws/src/dvrk-ros/dvrk_robot/CMakeLists.txt

3. and change the following lines

find_package(sawRobotIO1394 2.1.0 REQUIRED)
find_package(sawIntuitiveResearchKit 2.1.0 REQUIRED)

4. To

find_package(sawRobotIO1394 2.0.0 REQUIRED)
find_package(sawIntuitiveResearchKit 2.0.1 REQUIRED)

1. Edit the file:

$gedit ~/catkin_ws/src/cisst-saw/sawConstraintController/examples/CMakeLists.txt

2. Comment out the following lines:

#add_subdirectory (SimpleCommunication)
#add_subdirectory(BasicSetup)

3. Edit the file:

$gedit ~/catkin_ws/src/cisst-saw/sawOptoforceSensor/examples/CMakeLists.txt

4. Comment out the following lines:

#add_subdirectory (console)
#add_subdirectory (Qt)