Run gazebo classic simulation with Turtlebot 3 with ROS 2 foxy in a local docker container.
Simple simulation for testing purposes.
git submodule init && git submodule update -r
)terminator
using your systems package manager (e.g. sudo apt install terminator
).There's no further configuration needed, but you might want to take a look at these:
turtlebot
. If you want to access it from the host network you might want to change to network-mode: host
and remove the turtlebot
-network entries.After you installed docker and terminator you can directly call the ./run.bash
-script, it starts the robot in the basic Turtlebot environment as well as everything that is needed for autonomous navigation and rviz2.
Note that you don't need to run the build script, the image is pushed to docker hub, just run docker-compose pull
!
If you want to rebuild the docker-container and do not want to use the provided container from docker hub you can force a rebuild it by running ./build.bash
in the subfolder.
If you like to run custom ROS commands you can do so by going into the remote-pc
-folder and execute ./turtlebot.bash YOUR_ROS_COMMAND
like so:
cd remote-pc
./turtlebot.bash ros2 topic list
When you close the terminator-window docker-compose down
will be executed in the remote_pc
and simulated_turtlebot
subfolders to stop all remaining docker instances. Note that this might also stop other docker container you are running!
Please use the issue tracker to submit bug reports and feature requests. Please use merge requests as described here to add/adapt functionality.
This code is distributed under the 3-clause BSD license.
Andreas Bresser, andreas.bresser@dfki.de