krr_bringup

ROS Meta Package for the course project in the Knowledge Representation and Reasoning course of TU Delft Robotics Masters

Get docker image

Build docker image:

docker build -t krr_ws .

Or pull the latest docker image:

docker pull ghcr.io/kas-lab/krr_bringup:main

Run docker

Allow docker to use gui:

xhost +

Start docker container:

docker run -it --rm -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v $HOME/krr_ws/src:/krr_ws/src krr_ws

Run PDDL example for the MIRTE robot

In terminal 1:

docker run -it --rm -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix:ro krr_ws

Then:

ros2 launch mirte_gazebo gazebo_mirte_master_navigation.launch.py

In terminal 2:

docker run -it --rm -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix:ro krr_ws

ros2 launch krr_mirte_pddl krr_mirte_pddl_launch.py

OR:

Terminal 1:

docker run -it --rm -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix:ro ghcr.io/kas-lab/krr_bringup:main ros2 launch mirte_gazebo gazebo_mirte_master_navigation.launch.py

Terminal 2:

docker run -it --rm -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix:ro ghcr.io/kas-lab/krr_bringup:main ros2 launch krr_mirte_pddl krr_mirte_pddl_launch.py