Docker与Ros-kinetic-desktop-full

尉迟明辉

2023-12-01

ROS：http://wiki.ros.org/

参考wiki.ros.org上的 Ubuntu install of ROS Kinetic 以及之前的博客：Docker尝试，在Docker中配置ROS

# 运行容器 GUI 且使用Nidia显卡
xhost+
sudo docker run --ipc=host --runtime=nvidia -e $DISPLAY:$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -it nvidia/cudagl:11.0-base-ubuntu16.04

## 容器内部
# 更新
apt-get update
# 安装 sudo lsb-release
apt-get install sudo
sudo apt-get install lsb-release
# 添加ros源和公钥
sudo echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
# 更新
sudo apt-get update
# 安装
sudo apt-get install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

sudo apt-get install ros-kinetic-desktop-full

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

sudo rosdep init
sudo rosdep update

# 测试 全屏快捷键 F11
gazebo
# 退出
终端Crtl+C
# 退出容器
exit 或者 crtl+D

# container-id or name 查看
sudo docker ps -a

# 将修改后的容器保存为镜像 ros:kinetic-desktop-full-ubuntu16.04
sudo docker commit <container-id or name> ros:kinetic-desktop-full-ubuntu16.04

docker的修改能自动保存吗？ Docker，一台电脑>>>许多电脑 >o<

ROS 通讯模型，两种，One：Topic/Message模型，Publisher与Subscriber；Two：Client/Server，......?

ROS Turtle小乌龟

# Tips: Command尝试使用Tab键自动补全，终端某程序使用Ctrl+C退出
# docker打开容器新终端使用docker exec -it id_or_name bash

roscore

# new terminal
rosrun turtlesim turtlesim_node

# new terminal 查看节点/话题等信息，-h 查看命令帮助信息，
rosnode list

rostopic lsit

rosmsg list

rosservice list

rqt_graph

# new terminal，添加新的小乌龟
rosservice call /spawn "x: y: z: theta: name:''"

# Publisher -r 10次/秒，小乌龟turtle1转圈圈圈
rostopic pub -r 10 /turtle1/cmd_vel geometry_msgs/Twist "linear:
  x: 2.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 2.0" 

# node:turtle_teleop_key，键盘控制，默认只能控制turtle1，还不知道如何修改？
rosrun turtlesim turtle_teleop_key

课程练习1

1. Setup the Husky simulation: http://wiki.ros.org/husky_gazebo/Tutorials/Simulating%20Husky

xhost+
sudo docker run --runtime=nvidia -e $DISPLAY:$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -it ros:kinetic-desktop-full-ubuntu16.04

sudo apt-get install ros-kinetic-husky-simulator

export HUSKY_GAZEBO_DESCRIPTION=$(rospack find husky_gazebo)/urdf/description.gazebo.xacro

roslaunch husky_gazebo husky_empty_world.launch

roslaunch husky_gazebo husky_playpen.launch

roslaunch husky_gazebo husky_empty_world.launch world_name:=worlds/willowgarage.world

2. Launch the simulation and inspect the created nodes and their topics using:

rosnode list
rostopic list
rostopic echo [TOPIC]
rostopic hz [TOPIC]
rqt_graph

For more information take a look at the slides or:
http://wiki.ros.org/rostopic
http://wiki.ros.org/rosnode

3. Command a desired velocity to the robot from the terminal

( rostopic pub [TOPIC] )

4. Use teleop_twist_keyboard to control your robot using the keyboard. Find it online and compile it from source! Use git clone to clone the repository to the folder ~/git.
For a short git overview see:
http://rogerdudler.github.io/git-guide/files/git_cheat_sheet.pdf

5. Write a launch file with the following content (Lecture 1 Slides 27-30):
- husky simulation with a different world:
Include husky_empty_world.launch file and change the world_name
Argument, e.g. worlds/robocup14_spl_field.world a world from the
directory /usr/share/gazebo-7/worlds.

Note: the world_name is with respect to /usr/share/gazebo-7/
- teleop_twist_keyboard node

Evaluation
❏ Check if teleop_twist_keyboard is compiled from source ( roscd
teleop_twist_keyboard should show the catkin_ws folder)
❏ Start the launch file. This should bring everything up that’s needed to drive Husky
with the keyboard as shown in the above image.
Hints
●
If the robot stops again after sending the velocity command, specify the rate of the
publisher. Check out rostopic pub --help.

编写成脚本，方便

ros.sh

#!/bin/bash

#####################  Build in Things   ######################
#. $Function_Top/Include/Enviroment_Config.inc
Call_Path=$(pwd) #Where this call from?

#Where is here?
if [ -n "$Function_Path" ];then
	Here_Path=$Function_Path
else
	Here_Path=$(dirname $(readlink -f $0))
fi
echo "Here_Path: $Here_Path"

#Who am I?
if [ -n "$Function_Name" ];then
	File_Name=$Function_Name.func
else
	# File_Name=${0##*/};
	Function_Name=${File_Name%.*};
fi
echo "File_Name: $File_Name"
echo "File_Name: ${0##*/}"
echo "Function_Name: $Function_Name"

# echo $0
# echo ${0#*/}
# echo ${0##*/}
# pwd

function build()
{
	image_name="nvidia/cudagl:11.0-base-ubuntu16.04"
	if [ -n "$1" ];then
		image_name=$1
	fi
	container_name="ros"
	if [ -n "$2" ];then
		container_name=$2
	fi
	echo "Build docker image is $image_name, and the container name is $container_name."
	xhost +
	sudo docker run --ipc=host --runtime=nvidia --privileged -e DISPLAY=$DISPLAY -e GDK_SCALE -e GDK_DPI_SCAL -v /tmp/.X11-unix:/tmp/.X11-unix -v /dev/bus/usb:/dev/bus/usb -v $Here_Path:$Here_Path -w $Here_Path --name=$container_name -it $image_name /bin/bash
	# docker run --ipc=host --runtime=nvidia --privileged -e DISPLAY=$DISPLAY -e GDK_SCALE -e GDK_DPI_SCAL -v /tmp/.X11-unix:/tmp/.X11-unix -v /dev/bus/usb:/dev/bus/usb --name=ros -it ros:kinetic-desktop-full-ubuntu16.04 /bin/bash
}

function start()
{
	image_name="ros:kinetic-desktop-full-ubuntu16.04"
	if [ -n "$1" ];then
		image_name=$1
	fi
	container_name="ros"
	if [ -n "$2" ];then
		container_name=$2
	fi
	echo "Start docker image is $image_name, and the container name is $container_name."
	xhost +
	sudo docker run --ipc=host --runtime=nvidia --privileged -e DISPLAY=$DISPLAY -e GDK_SCALE -e GDK_DPI_SCAL -v /tmp/.X11-unix:/tmp/.X11-unix -v /dev/bus/usb:/dev/bus/usb -v $Here_Path:$Here_Path -w $Here_Path --name=$container_name -it $image_name /bin/bash
	# docker run --ipc=host --runtime=nvidia --privileged -e DISPLAY=$DISPLAY -e GDK_SCALE -e GDK_DPI_SCAL -v /tmp/.X11-unix:/tmp/.X11-unix -v /dev/bus/usb:/dev/bus/usb --name=ros -it ros:kinetic-desktop-full-ubuntu16.04 /bin/bash
}

function detect_runing_environment()
{
	str_device=$(cat /proc/1/cgroup | grep devices)
	# str_device=$(which docker)
	# echo $str_device
	str_docker=$(echo $str_device | grep docker)
	# echo $str_docker
	# str_device=$(which docker)
	# echo $str_device | grep docker
	# ${#str_device}
	if [ ${#str_docker} -ge "6" ];then
		echo "It's running in a docker container."
	else
		echo "It's not running in a docker container."
	fi
	# test_len="docker"
	# echo ${#test_len}

}

function help()
{
	echo "This is help function!"
}

function test()
{
	echo "This is a test function."
}

function introduction()
{
	echo "This is introduction function!"
}


if [ -n "$1" ];then
	while [ -n "$1" ]; do
	case $1 in
##BEGIN_HELP##
		-h)     shift 1;help;exit 1;;                   #Show usages 
		-i)     shift 1;introduction;exit 1;;           #Show introduction
		-*)     echo "Error: No such option $1. -h for help.";exit 1;; 
		*)      $*;exit 1;;                                  #Call function here
##END_HELP##
	esac
	done
else
	echo "continue"
fi

ros_install.sh

#!/bin/bash
apt-get update
apt-get install sudo
sudo apt-get install lsb-release -y
echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
# UN apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full -y
sudo apt-get install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential -y

sudo rosdep init
sudo rosdep update \
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc

Docker与Ros-kinetic-desktop-full

ros.sh

ros_install.sh

相关阅读

相关文章

相关问答

相关文档