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

5. Clone turtlesim_polaris package. git clone https://github.com/ximenesfel/turtlesim_polaris.git

6. Rename turtlesim_polaris folder to app. mv turtlesim_polaris app

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

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

9. Build turtlesim_polaris package

cd catkin_ws
catkin_make

10. Source the environment source ~/.bashrc

11. Run the launch file roslaunch turtlesim_bringup turtlesim.launch

12. Move Polaris with keyboard arrows keys.

Result