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APRS_description

Loads the robots from the APRS lab in Gazebo Harmonic Running Iron

Packages

  • aprs_description - Includes all descriptions for the four robots.

Installation Instructions

  • Pull the docker image

    docker image pull jaybrecht/aprs-description

  • Create a container using the docker image

    docker run -t -d --name aprs-description -e DISPLAY=$DISPLAY -e LOCAL_USER_ID=1001 --gpus=all --runtime=nvidia -e "NVIDIA_DRIVER_CAPABILITIES=all" --network=host --pid=host --privileged -v /tmp/.X11-unix:/tmp/.X11-unix:rw jaybrecht/aprs-description:latest

  • Enable local connections to docker

    xhost +local:docker

  • Access the docker container through the terminal

    docker exec -it aprs-description bash

  • Clone the description package

    git clone https://github.com/usnistgov/aprs_description.git src/aprs_description

  • Clone the plugins package

    git clone https://github.com/jfernandez37/aprs_plugins.git src/aprs_plugins

  • Clone the conveyor package

    git clone https://github.com/usnistgov/aprs-ros-conveyor.git src/aprs_ros_conveyor

  • Remove the old gz_ros2_control package

    rm -rf src/gz_ros2_control

  • Clone the new gz_ros2_control package in the iron branch

    git clone https://github.com/jfernandez37/gz_ros2_control.git src/gz_ros2_control -b iron

  • Set the resource path

    export GZ_SIM_RESOURCE_PATH=/home/ubuntu/aprs_ws/install/ur_description/share/:/home/ubuntu/aprs_ws/install/aprs_description/share/aprs_description/gz_models/:/home/ubuntu/aprs_ws/install/aprs_description/share

  • Build the workspace

    colcon build

  • Source the workspace

    . install/setup.bash

  • Launch the environment with the robots in the same namespace

    ros2 launch aprs_description load_aprs_robots.launch.py

  • Launch the environment with the robots in different namespaces

    ros2 launch aprs_description load_aprs_robots_ns.launch.py

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