Problem Running the simulation

[ChAllenJo]

Hey, First, thank you so much for a very easy-to-use, dockerised setup to run simulations on the lunar environment. However, in trying to make it run, I have a small difficulty you could maybe help me with.

I run the executable provided from within the docker environment, the screen is rendered successfully with the unity engine. However, I am not able to read any of the topics through rviz or even through a ros2 topic echo after attaching to the container and sourcing the environment in a different terminal.There is also no movement if I publish on the cmd_vel topic.Please let me know if there is a gap in my understanding w.r.t Ros2 I'm somewhat of a newbie. Thanks for the amazing work though!

Tested on Ubuntu 18 GPU Nvidia-1650 (doesn't seem to be used)

[ChAllenJo]

Hey hope you are all well rested and Had an opportunity to look at this maybe?

[TL-4319]

I don't know if you have solved this issue yet but something that you can try is to start the sim in a container, start another container from the osrf/ros:humble or some equivalent ros2 docker images. I have to edit some shell script to have the networking work between container and host.

SHELL SCRIPT TO START LUNARSIM CONTAINER

xhost local:root
XSOCK=/tmp/.X11-unix

docker run -it --rm \
 --gpus all \
 -e DISPLAY=$DISPLAY \
 -v $XSOCK:$XSOCK \
 -v $HOME/.Xauthority:/root/.Xauthority \
 --privileged \
 lunarsim:latest bash

SHELL SCRIPT TO START OTHER ROS2 CONTAINER TO CONTROL AND READ DATA

xhost local:root
XSOCK=/tmp/.X11-unix

docker run -it --rm \
 --gpus all \
 -e DISPLAY=$DISPLAY \
 -v $XSOCK:$XSOCK \
 -v $HOME/.Xauthority:/root/.Xauthority \
 --privileged \
 osrf/ros:humble-desktop bash

I was able to send commands and stream images doing so. I'm still not sure why -net=host parameters prevents my setup to work correctly so that might be a good place for the author to chime in. Hope that helps some