Loads the robots from the APRS lab in Gazebo Harmonic Running Iron
aprs_description- Includes all descriptions for the four robots.
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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