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ahundt / grl

Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.
https://ahundt.github.io/grl/
BSD 2-Clause "Simplified" License
154 stars 72 forks source link

Updated Docker #132

Closed davidadley closed 7 years ago

davidadley commented 7 years ago

Updates the Dockerfile using ROS-Kinetic or Ubuntu 16.04 as the base image. It is a complicated docker file and sometimes needs to be run twice.

ahundt commented 7 years ago

Thanks this looks awesome! Can you add a little info for when each script is appropriate to run?

davidadley commented 7 years ago

Hi no problem:

For basic Ubuntu 16.04 build: InstallDocker.sh - InstallsDocker on a base system without it Build.sh - Builds the docker image using the Dockerfile Run.sh - runs a container using the built image with access to X11 for V-REP.

The run.sh file could be more advanced as it starts a new container everytime it is run and doesn't restart and attach to an existing container. Knowledge of docker is an advantage here. If you wish to restart and attach to an existing container you also need to set xhost +local:root.

xhost +local:root && docker start 'name of container' && docker attach 'name of container'

An alternative is to commit the container with modifications to the base image:

docker commit 'name of container' 'name of image e.g. xenial-grl:nvidia'

then simply use the ./run.sh script

If using the ROS-kinetic base image from OSRF (See dockerfile for details): pre-conf.sh is used to create and build the catkin workspaces startup.sh is run everytime the system is run. It really only needs to be run once. Both these files are copied into the docker image while it is being built and shouldn't be run by the user. They could be put into a separate 'ROS' or 'config' directory to make the layout clearer. I tried to eliminate them but couldn't it caused strange docker errors. Maybe in the future I'll give it another shot.

ahundt commented 7 years ago

@davidadley sorry I meant in like a README.md in this folder of the code, then I can accept the pull request. Thanks!

ahundt commented 7 years ago

@davidadley awesome thanks for the update ! Are you able to drive your Kuka with this?

davidadley commented 7 years ago

Hey,

I've not got one yet. It's on order should be arriving in a few weeks. I'm just getting up to speed with what's available on GitHub. GRL is very impressive! Great work! I'll try to contribute if I can in the future as I'll be working with the LBR for most of the year.

On Wednesday, 15 February 2017, Andrew Hundt notifications@github.com wrote:

@davidadley https://github.com/davidadley awesome thanks for the update ! Are you able to drive your Kuka with this?

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/ahundt/grl/pull/132#issuecomment-280148523, or mute the thread https://github.com/notifications/unsubscribe-auth/AMsnPPYpfLdmHawNChgnRqC2TBDcemeMks5rc3EKgaJpZM4L_PIT .