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tonykolomeytsev / youbot_devcontainer

A simple Docker container for building projects for KUKA youBot.
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How to integrate with ROS #1

Closed epshteinmatthew closed 4 months ago

epshteinmatthew commented 5 months ago

I saw in your readme that it is possible to integrate the docker environment with ROS. How would I go about this?

tonykolomeytsev commented 5 months ago

Hello @epshteinmatthew! Maybe I went too far when I wrote “it’s easy.” Since it's been two years since the code was published, I don't really remember the context. But anyway, I can say for sure that to integrate youbot library with ROS you will have to write your own wrapper in C++.

The wrapper can be a simple ROS node into which the library from the robot is imported and which launches some actions in response to commands from topics.

There are several ways to do this:

The first way

If you run ROS applications on a robot inside Docker, you can build your own ROS Docker image using artifacts from my Dockerfile using multistage build.

The second way

If you run ROS as is on your robot, just install all things from my Dockerfile to your system. Then some hacky hack with the youbot library to get yor wrapper ROS node done.

I don't know your level of knowledge. If necessary, I can explain some points in more detail. Unfortunately, if you're looking for a ready-made Python wrapper for ROS, it doesn't exist yet :(

epshteinmatthew commented 4 months ago

Hi, thanks for answering. I ended up going about something similar to the first way, and I have a docker image with the youbot ROS wrapper installed on my system now.