ppmrob

Initial docker setup

To run use:

docker compose up --build

This defaults to 1 victim, change NUMBER_OF_VICTIMS=<value> in docker_planner_vars.env for different number of victims.

To exit

Send Ctrl+C or run:

docker compose down

For further development

# in catkin workspace (i.e., ppmrob)
catkin_make # compile
source devel/setup.bash # update the workspace environment

When successful you should be able to run, e.g., roscd <package>.

Creating a ROS package

For a package to be considered a catkin package it must meet a few requirements:

1. catkin compliant package.xml
2. CMakeLists.txt which uses catkin

3. have its own folder

   workspace_folder/        -- WORKSPACE
     src/                   -- SOURCE SPACE
       CMakeLists.txt       -- 'Toplevel' CMake file, provided by catkin
       package_1/
         CMakeLists.txt     -- CMakeLists.txt file for package_1
         package.xml        -- Package manifest for package_1
       ...
       package_n/
         CMakeLists.txt     -- CMakeLists.txt file for package_n
         package.xml        -- Package manifest for package_n

Project file structure as a tree (find more info here):

Custom nodes

1. CreatingPackage
2. Add Dockerfile to the package folder
3. Add the node/service to the docker-compose.yml file