This project contians a containerised and web-interface verison of: https://github.com/ukaea/Glovebox-Simulator
Pre-built docker image: https://hub.docker.com/r/ukaea/glovebox-simulator
The fastest way to get started is using Docker. If you haven't done so already head over to the Docker website and follow the instructions over there.
Once installed you can simply fire up the pre-built Docker container (it will be downloaded automatically for you):
docker run -it --name sgs -p 8080:8080 -p 8888:8888 ukaea/glovebox-simulator:latest
Then connect your local browser to localhost:8080 to see the simulation and localhost:8888 to get access to an ipython notebook which you can tinker with. The password for the ipython notebook is rain.
The next time you want to restart this container you just have to run:
docker start sgs
And you will be able to connect to localhost:8080 and localhost:8888 again.
If on startup you get the following error:
[Err] [RenderEngine.cc:734] Can't open display: :1.0
The camera topics will not be published. This error is caused by an erratic closure of the X server processes. In order to fix it run the following command on your host:
docker exec -it sgs bash
then run:
rm /tmp/.X1-lock
Finally restart the container.
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Note, there is no need to use nvidia-docker as Gazebo server is CPU bound.
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We have added significant wait points in the start up scripts to attempt to ensure a smooth start-up. These plausbly can be reduced or removed. The total time for start up currently is about 2 mins.
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To interact with container with ROS directly run the container with local networking, ie:
docker run -it --name sgs --network=host ukaea/glovebox-simulator
The developers would like to sincerely thank Shadow robotics for which created Smart Grasping Sandbox (https://github.com/shadow-robot/smart_grasping_sandbox), which acted as the direct inspiration for this container.