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Project

A ROS package that continuously orientates a robot using a reference.

Requirements

  • docker
  • docker-compose

Install

  1. Run the command xhost +local:root

  2. Create a new folder for docker environment.

  3. Go to the new folder created.

  4. Create a new file called docker-compose.yaml.

version: '3'

services:
  turtlesim:
    image: docker.pkg.github.com/ximenesfel/turtlesim_polaris/turtlesim_polaris:1.0.0
    tty: true
    volumes:
      - ./app:/root/catkin_ws/src
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ~/.Xauthority:/root/.Xauthority
    environment:
      DISPLAY: $DISPLAY
      QT_X11_NO_MITSHM: 1
  1. Clone turtlesim_polaris package. git clone https://github.com/ximenesfel/turtlesim_polaris.git

  2. Rename turtlesim_polaris folder to app. mv turtlesim_polaris app

  3. Create the container. docker-compose up -d

  4. Access the container. docker-compose exec turtlesim bash

  5. Build turtlesim_polaris package

cd catkin_ws
catkin_make
  1. Source the environment source ~/.bashrc

  2. Run the launch file roslaunch turtlesim_bringup turtlesim.launch

  3. Move Polaris with keyboard arrows keys.

Result

Result

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A ROS package that continuously orientates a robot using a reference.

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