{"id":15988185,"url":"https://github.com/insertish/door_world_ws","last_synced_at":"2026-03-19T07:39:42.838Z","repository":{"id":110114240,"uuid":"568997723","full_name":"insertish/door_world_ws","owner":"insertish","description":"This is a workspace containing the \"door 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Door Problem Workspace\n\nThis repository contains everything needed to simulate The Door Problem™.\n\n![robot is stuck](assets/Screenshot_20221121_212819.png)\n\n\u003e the robot is stuck\n\n## Run with Docker\n\nPrerequisities to install:\n\n- [aur/nvidia-docker](https://aur.archlinux.org/packages/nvidia-docker) or `arch4edu/nvidia-docker`\n- [aur/python-rocker](https://aur.archlinux.org/packages/python-rocker)\n\nThis is all you need to get up and running:\n\n```bash\n# save information about CWD\n# needed for localisation in next steps\nexport MAP_LOCATION=$PWD/configurations/cleaned\n\n# you may want to start roscore outside of the container before continuing\nros\nroscore \u0026\n\n# run the container\nrocker -e MAP_LOCATION=$MAP_LOCATION --volume \"./src/door_world/worlds/door_world.xml\":\"/tiago_public_ws/src/tiago_simulation/tiago_gazebo/worlds/door_world.world\" --volume \"./src/door_world/meshes/door_world.dae\":\"/tiago_public_ws/src/tiago_simulation/tiago_gazebo/meshes/door_world.dae\" --home --user --nvidia --x11 --privileged --network=host palroboticssl/tiago_tutorials:melodic\n\n# setup environment\npushd /tiago_public_ws\nsource ./devel/setup.bash\npopd\n\n# launch default map with nothing else\n# roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true world:=door_world\n\n# launch with localised map\nroslaunch tiago_2dnav_gazebo tiago_navigation.launch public_sim:=true world:=door_world map:=$MAP_LOCATION\n\n# this should require no extra localisation\n# steps since transformation is the same!\n\n# 1. if you run into issues, force localise by running:\nrosservice call /global_localization \"{}\"\n# 2. then move the robot around:\nTERM=linux rosrun key_teleop key_teleop.py\n# 3. and reset costmaps after it finds where it is\nrosservice call /move_base/clear_costmaps \"{}\"\n```\n\nFor use with above, a `door_world.geojson` file is included with information about positions of different things.\n\n## Mapping (for reference only)\n\nTo map the world, launch the mapping tools:\n\n```bash\n# launch\nroslaunch tiago_2dnav_gazebo tiago_mapping.launch public_sim:=true world:=door_world\n\n# move the robot around a bit (in another terminal or CTRL+Z)\n# use this teleop if you hate yourself\nTERM=linux rosrun key_teleop key_teleop.py\n\n# once sufficiently mapped, save the map\nrosservice call /pal_map_manager/save_map \"directory: ''\"\n\n# this updates ~/.pal/tiago_maps/config by default\nls -la ~/.pal/tiago_maps/config\n\n# you can copy out the configuration from the default directory\nls -la ~/.pal/tiago_maps/configurations\n```\n\n## Demo Video\n\nThis is a video of the robot struggling to get through the \"door\".\n\nhttps://user-images.githubusercontent.com/38285861/203162071-9caabb98-d5f6-4f39-920f-da5783dbddec.mp4\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Finsertish%2Fdoor_world_ws","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Finsertish%2Fdoor_world_ws","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Finsertish%2Fdoor_world_ws/lists"}