Docker image for Clearpath's Husky A200 on ROS 1 Melodic

Prerequisites

Hardware:

• Husky base
• Power supply cable (for recharging the battery)
• USB cable

We choose not to use the MINI-ITX computer, and control Husky directly through a Jetson board or laptop.

More information such as User Guide and Manual Installation steps can be found in this post.

Installation

Clone the repo:

git clone https://github.com/j3soon/docker-ros-husky.git
cd docker-ros-husky

Installation of udev rules must be done on the host machine:

./setup_udev_rules.sh

You should see done if everything works correctly.

You need to reboot the host machine to make the udev rules take effect.

Teleoperation

sudo apt-get update && sudo apt-get install -y docker.io docker-compose
# Connect and power on husky
docker-compose up -d
./docker-exec-bringup.sh
# Open a new terminal
./docker-exec-teleop.sh
# Control husky with keyboard
# Press Ctrl+C to exit
docker-compose down

The pre-built docker images will be pulled automatically.

Although the docker container support hot plugging, if Husky is re-plugged or re-booted, you still need to re-run the following commands:

./docker-exec-bringup.sh
./docker-exec-teleop.sh

Build Docker Images Locally

• On amd64 machine:

  docker build -f Dockerfile -t j3soon/ros-melodic-husky:latest .

• On arm64 machine:

  docker build -f Dockerfile.jetson -t j3soon/ros-melodic-husky:latest .

If you want to build an image that supports multiple architectures, please refer to the build workflow.

Third Party Scripts

• thirdparty/files/udev/60-ros-melodic-husky-bringup.rules is copied from: https://github.com/husky/husky/blob/melodic-devel/husky_bringup/debian/udev (commit cf7a47e)
• thirdparty/50-clearpath.list is copied from: https://github.com/clearpathrobotics/public-rosdistro/blob/master/rosdep/50-clearpath.list (commit 1e88245)
• thirdparty/* is copied from: https://github.com/clearpathrobotics/ros_computer_setup/tree/main (commit 90de83b)
  • thirdparty/install.sh is further modified to meet our needs.

Uninstall

Uninstallation of udev rules must be done on the host machine:

./remove_udev_rules.sh

You should see done if everything works correctly.

Tests

Last tested manually on 2023/10/26:

• Ubuntu 18.04.6 LTS (amd64) on Intel CPU

Last tested manually on 2023/10/27:

• Ubuntu 20.04.6 LTS (arm64) on Jetson AGX Xavier (Jetpack 5.1.2)

Troubleshooting

• Most command failures can be resolved by simply re-running the command or rebooting Husky.
• Exec into the container with bash for debugging:

  ./docker-exec-debug.sh

• See this post for troubleshooting ROS.
• See this post for troubleshooting Husky.