• Ambiente testado
• Instalação
• Uso

Ambiente testado

• Ubuntu 18.04

Instalação

• Instalar o docker no computador:

sudo apt-get install curl
curl -fsSL https://get.docker.com -o get-docker.sh
sh get-docker.sh

• Realizar esses passos para rodar o docker sem a necessidade do root:

sudo groupadd docker
sudo usermod -aG docker "usuario" (Trocar "usuario" pelo nome do seu usuário. Ex: sudo usermod -aG docker ximenes)

• Reiniciar o pc para validar a associação acima.

• Instalar o docker-compsoe no computador:

sudo apt-get install -y python3-pip
sudo python3 -m pip install docker-compose

• Clonar o código no seu pc:

sudo apt-get install -y git
git clone https://github.com/ximenesfel/tutorial_ros_turtlesim.git
cd tutorial_ros_turtlesim

• Realizar o build da imagem do docker. Esse passo demora um pouco !!!!

docker-compose build

• Rodar o docker container:

docker-compose up -d

• Verificar se o docker está rodando corretamente:

docker-compose ps

Resposta do comando se tiver rodando corretamente.

            Name                       Command           State   Ports
----------------------------------------------------------------------
tutorial_ros_turtlesim_ros_1   /ros_entrypoint.sh bash   Up 

• Acessar o docker container:

docker-compose exec ros bash

Uso

• Rodar este comando no terminal:

xhost +local:root

• Acessar o docker container e rodar o roscore:

docker-compose exec ros bash 

root@46ef30c4b5eb:~# roscore

Saída

root@46ef30c4b5eb:~# roscore
... logging to /root/.ros/log/2b9ea84c-a523-11ea-a76b-0242ac1a0002/roslaunch-46ef30c4b5eb-226.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://46ef30c4b5eb:41597/
ros_comm version 1.14.5


SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.5

NODES

auto-starting new master
process[master]: started with pid [236]
ROS_MASTER_URI=http://46ef30c4b5eb:11311/

setting /run_id to 2b9ea84c-a523-11ea-a76b-0242ac1a0002
process[rosout-1]: started with pid [247]
started core service [/rosout]

• Abrir outro termininal, acessar o docker container e rodar o turtlesim:

docker-compose exec ros bash  (Acessar o docker container)
root@46ef30c4b5eb:~# rosrun turtlesim turtlesim_node (rodar o turtlesim)

Saída

root@46ef30c4b5eb:~# rosrun turtlesim turtlesim_node
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[ INFO] [1591138378.877094992]: Starting turtlesim with node name /turtlesim
[ INFO] [1591138378.881619179]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast

• O turtlesim vai aparecer.

• Teleoperar o turtlesim com as teclas do teclado

Abrir outro termininal, acessar o docker container e rodar o nó para teleoperar com as setas do teclado:

docker-compose exec ros bash  (Acessar o docker container)
root@46ef30c4b5eb:~# rosrun turtlesim turtle_teleop_key

Saída

root@dafdb326b316:~# rosrun turtlesim turtle_teleop_key 
Reading from keyboard
---------------------------
Use arrow keys to move the turtle. 'q' to quit.

• Movimentar as setas no teclado e o turtlesim vai andar.