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https://github.com/j3soon/docker-ros-husky
Docker image for Clearpath's Husky A200 on ROS 1 Melodic
https://github.com/j3soon/docker-ros-husky
clearpath clearpath-husky docker docker-compose husky robotics ros ros-melodic
Last synced: 10 days ago
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Docker image for Clearpath's Husky A200 on ROS 1 Melodic
- Host: GitHub
- URL: https://github.com/j3soon/docker-ros-husky
- Owner: j3soon
- Created: 2023-10-16T15:11:18.000Z (over 1 year ago)
- Default Branch: master
- Last Pushed: 2023-12-02T10:11:33.000Z (about 1 year ago)
- Last Synced: 2024-12-07T23:12:33.539Z (2 months ago)
- Topics: clearpath, clearpath-husky, docker, docker-compose, husky, robotics, ros, ros-melodic
- Language: Shell
- Homepage:
- Size: 25.4 KB
- Stars: 1
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Docker image for Clearpath's Husky A200 on ROS 1 Melodic
[
](https://hub.docker.com/r/j3soon/ros-melodic-husky/tags)
## Prerequisites
Hardware:
- Husky base
- Power supply cable (for recharging the battery)
- USB cable
We choose not to use the MINI-ITX computer, and control Husky directly through a Jetson board or laptop.
More information such as User Guide and Manual Installation steps can be found in [this post](https://j3soon.com/cheatsheets/clearpath-husky/).
## Installation
Clone the repo:
```sh
git clone https://github.com/j3soon/docker-ros-husky.git
cd docker-ros-husky
```
Installation of udev rules must be done on the host machine:
```sh
./setup_udev_rules.sh
```
You should see `done` if everything works correctly.
You need to reboot the host machine to make the udev rules take effect.
## Teleoperation
```sh
sudo apt-get update && sudo apt-get install -y docker.io docker-compose
# Connect and power on husky
docker-compose up -d
./docker-exec-bringup.sh
# Open a new terminal
./docker-exec-teleop.sh
# Control husky with keyboard
# Press Ctrl+C to exit
docker-compose down
```
The [pre-built docker images](https://hub.docker.com/r/j3soon/ros-melodic-husky/tags) will be pulled automatically.
Although the docker container support hot plugging, if Husky is re-plugged or re-booted, you still need to re-run the following commands:
```sh
./docker-exec-bringup.sh
./docker-exec-teleop.sh
```
## Build Docker Images Locally
- On amd64 machine:
```sh
docker build -f Dockerfile -t j3soon/ros-melodic-husky:latest .
```
- On arm64 machine:
```sh
docker build -f Dockerfile.jetson -t j3soon/ros-melodic-husky:latest .
```
If you want to build an image that supports multiple architectures, please refer to the [build workflow](./.github/workflows/build.yaml).
## Third Party Scripts
- `thirdparty/files/udev/60-ros-melodic-husky-bringup.rules` is copied from: (commit cf7a47e)
- `thirdparty/50-clearpath.list` is copied from: (commit 1e88245)
- `thirdparty/*` is copied from: (commit 90de83b)
- `thirdparty/install.sh` is further modified to meet our needs.
## Uninstall
Uninstallation of udev rules must be done on the host machine:
```sh
./remove_udev_rules.sh
```
You should see `done` if everything works correctly.
## Tests
Last tested manually on 2023/10/26:
- Ubuntu 18.04.6 LTS (amd64) on Intel CPU
Last tested manually on 2023/10/27:
- Ubuntu 20.04.6 LTS (arm64) on Jetson AGX Xavier (Jetpack 5.1.2)
## Troubleshooting
- Most command failures can be resolved by simply re-running the command or rebooting Husky.
- Exec into the container with bash for debugging:
```sh
./docker-exec-debug.sh
```
- See [this post](https://j3soon.com/cheatsheets/robot-operating-system/) for troubleshooting ROS.
- See [this post](https://j3soon.com/cheatsheets/clearpath-husky/) for troubleshooting Husky.