pc6-sv / keith_ugv_workspace

ugv_workspace

See individual submodule wikis on main branch for more information.

Pre-Requisites

Linux:

• Install nvidia-container-toolkit link
• Install proprietary Nvidia drivers (Check Additional Drivers app)

Windows (NOT TESTED):

• Install VcXsrv Windows X Server from this link

  Required for Graphic Applications to run on Windows (e.g. Gazebo)

• Set up Docker with GPU link

Getting Started

1. Download the Docker folder and build the Docker Image using

docker build -t ugv_base .

2. Create the Docker network if not already done.

docker network create netty

3. Run the docker image

For Linux Run the docker image using the bash file

./create_container.bash ugv1

• Note : make the bash files executable first

  chmod +x create_container.bash
  

• Remember to open xhost if not using bash file

  xhost local:root
  

For Windows Run the docker image using the command (Change DISPLAY var as needed) (not tested)

docker run -it --name ugv1 -e DISPLAY=host.docker.internal:0.0 -e LIBGL_ALWAYS_INDIRECT=0 --runtime=nvidia --gpus all --network netty ugv_base bash

4. Start mosquitto broker on ugv1

service mosquitto start
mosquitto -v

5. Open a new terminal and enter container with

docker exec -it ugv1 bash

6. Execute AEDE launch file

source keith_ugv_workspace/aede/devel/setup.sh
roslaunch vehicle_simulator indoor.launch

7. Open another terminal and change the vehicle number in mqtt_bridge/config/la_params.yaml

nano keith_ugv_workspace/tare_planner/src/mqtt_bridge/config/la_params.yaml

nano keith_ugv_workspace/far_planner/src/mqtt_bridge/config/la_params.yaml

8. Update poi_type in navi.py if necessary.

nano keith_ugv_workspace/far_planner/src/multi_ugv_behaviours/navi.py

9. Execute TARE/FAR Planner launch file

source keith_ugv_workspace/tare_planner/devel/setup.sh
roslaunch tare_planner explore_indoor.launch 2> >(grep -v TF_REPEATED_DATA buffer_core)

source keith_ugv_workspace/far_planner/devel/setup.sh
roslaunch far_planner far+killer.launch 2> >(grep -v TF_REPEATED_DATA buffer_core)