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https://github.com/j3soon/docker-ros-kobuki
Docker image for Yujin Robot's iClebo Kobuki on ROS 1 Melodic
https://github.com/j3soon/docker-ros-kobuki
docker docker-compose kobuki robotics ros ros-melodic turtlebot
Last synced: 12 days ago
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Docker image for Yujin Robot's iClebo Kobuki on ROS 1 Melodic
- Host: GitHub
- URL: https://github.com/j3soon/docker-ros-kobuki
- Owner: j3soon
- Created: 2023-05-18T02:35:46.000Z (over 1 year ago)
- Default Branch: master
- Last Pushed: 2023-10-20T10:03:33.000Z (over 1 year ago)
- Last Synced: 2024-12-07T23:12:36.123Z (2 months ago)
- Topics: docker, docker-compose, kobuki, robotics, ros, ros-melodic, turtlebot
- Language: Shell
- Homepage:
- Size: 14.6 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Docker image for Yujin Robot's iClebo Kobuki on ROS 1 Melodic
[
](https://hub.docker.com/r/j3soon/ros-melodic-kobuki/tags)
## Prerequisites
Hardware:
- Kobuki base
- Power supply cable (for recharging)
- USB cable
More information such as User Guide and Manual Installation steps can be found in [this post](https://j3soon.com/cheatsheets/iclebo-kobuki/).
## Installation
Clone the repo:
```sh
git clone https://github.com/j3soon/docker-ros-kobuki.git
cd docker-ros-kobuki
```
Installation of udev rules must be done on the host machine:
```sh
./setup_udev_rules.sh
```
You should see `done` if everything works correctly.
## Teleoperation
```sh
sudo apt-get update && sudo apt-get install -y docker.io docker-compose
# Connect and power on kobuki
./docker-compose.sh up -d
./docker-exec-bringup.sh
# Open a new terminal
./docker-exec-teleop.sh
# Control kobuki with keyboard
# Press Ctrl+C to exit
./docker-compose.sh shutdown
```
The [pre-built docker images](https://hub.docker.com/r/j3soon/ros-melodic-kobuki/tags) will be pulled automatically.
Although the docker container support hot plugging, if Kobuki 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-kobuki:latest .
```
- On arm64 machine:
```sh
docker build -f Dockerfile.jetson -t j3soon/ros-melodic-kobuki: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/install_basic.sh` is copied from: (commit a98834a)
- `thirdparty/60-kobuki.rules` is copied from: (commit e2f0fea)
## Tests
Last tested manually on 2023/05/24:
- Ubuntu 18.04.6 LTS (amd64) on Intel CPU
- Ubuntu 20.04.5 LTS (arm64) on Jetson AGX Xavier (Jetpack 5.1.1)
Last tested manually on 2023/05/19:
- Ubuntu 22.04.2 LTS (amd64) on AMD CPU
## Troubleshooting
- Most command failures can be resolved by simply re-running the command or rebooting Kobuki.