https://github.com/milosgajdos/ros-playground
ROS (Robot Operating System) playground
https://github.com/milosgajdos/ros-playground
robotics ros
Last synced: about 2 months ago
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ROS (Robot Operating System) playground
- Host: GitHub
- URL: https://github.com/milosgajdos/ros-playground
- Owner: milosgajdos
- License: mit
- Created: 2018-09-25T23:32:25.000Z (over 6 years ago)
- Default Branch: master
- Last Pushed: 2019-04-08T01:11:20.000Z (about 6 years ago)
- Last Synced: 2025-02-03T11:51:01.213Z (4 months ago)
- Topics: robotics, ros
- Language: Dockerfile
- Homepage:
- Size: 14.6 KB
- Stars: 1
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# ros-playground
This repo contains a collection of [ROS](http://wiki.ros.org/) samples written in `C++` and `Python` using either or both of `roscpp` and `rospy` libraries.
## Environment setup
All the examples in this repo have been run in [Docker](https://www.docker.com/) containers built off the [official ROS images](https://hub.docker.com/r/library/ros/). As for the particular ROS release, the examples have been tested on [Melodic Morenia](http://wiki.ros.org/melodic) release.
### Docker setup
Pull down all necessary `docker` images:
```
docker pull ros # barebone ROS install
docker pull ros:melodic-ros-core # same as ros:latest
docker pull ros:melodic-ros-base # basic tools and libraries
docker pull ros:melodic-robot-stretch # basic install for robots
docker pull ros:melodic-perception-stretch # basic install for perception tasks
```
Build a new `docker` image using the `Dockerfile` in the root directory of this repo. Note that the root directory of this repo contains `.dockerignore` file which excludes all the local files from the `docker` build context:
```
docker build --tag ros:ros-playground -f Dockerfile .
```
The newly built `ros:ros-playground` image will have all the ROS system dependencies installed along with a skeleton [catkin](http://wiki.ros.org/catkin/Tutorials) build workspace initialized in `~rosuser/ros_ws/src` directory.
Test the newly built image by checking the ROS version:
```
$ docker run -it --rm ros:ros-playground rosversion -d
melodic
```
If everything went fine, you should now be ready to start hacking on `ROS`.
**NOTE:** `ros:ros-playground` image `Dockerfile` creates `rosuser` with `sudo` privileges and its own dedicated [ROS workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace) in `$HOME/ros_ws` directory. You will do most of the work inside the workspace. Furthermore, the `.bashrc` script `source`s ROS environment setup so you don't have to do it manually.
`ROS` uses `~/.ros/` for various things like storing logs and debugging info, so if you want to persist this directory you'll have to mount it in as a volume into `rosuser` home directory:
```
$ docker run -it --rm -v "$PWD/.ros/:/home/rosuser/.ros" ros:ros-playground ls -la
drwxr-xr-x 1 rosuser rosuser 4096 Apr 2 00:38 .
drwxr-xr-x 1 root root 4096 Apr 2 00:33 ..
-rw-r--r-- 1 rosuser rosuser 220 Apr 4 2018 .bash_logout
-rw-r--r-- 1 rosuser rosuser 3771 Apr 4 2018 .bashrc
-rw-r--r-- 1 rosuser rosuser 807 Apr 4 2018 .profile
drwxr-xr-x 2 rosuser rosuser 64 Apr 7 21:17 .ros
drwxr-xr-x 5 rosuser rosuser 4096 Apr 2 00:38 ros_ws
```