This is the repository for MRAC workshop 2.1, ROBOTICS SOLUTIONS FOR 3D SPACE ANALYSIS. This ROS-based part focuses on integrating advanced 3D scanning technologies, OpenCV-powered navigation, and 3D Lidar mapping for the Husky robot.
Supported Operating Systems: Ubuntu 20.04 and Ubuntu 22.04
This project uses Docker for containerization. If you don't have Docker Engine installed, follow this link To manage docker as a non-root user, please follow the post-installation steps in this link
Add the following to your bashrc file for ros and the workspace to be sourced when opening a new terminal in dev_ws, make sure your are not sourcing ROS in your bashrc file.
if [ -f "/dev_ws/setup.bash" ]; then
source /dev_ws/setup.bash
fi
If you want to visualize the pointcloud and images from husky robot please install foxglove studio.
sudo snap install foxglove-studio
To access the files inside container you need to install Remote Development and Docker extension in your vscode. To modify the files in container:
- click the Docker icon in vscode
- Right click the container you want to access
- Attach vscode
- Open the folder, type /dev_ws/src
Fork this repository and clone to your computer Add the submodles
cd MRAC_SENSING_WORKSHOP
git submodule update --init
Build the ros_sim image
cd ros_sim
.docker/build_image.sh
Build the turtlebot_remote image
cd turtlebot_remote
.docker/build_image.sh
Run the container
.docker/run_user.sh
Once you run the container, you will see the terminal return the request to change the ownership of the folder, copy this line from the terminal
sudo chown -R $USER /dev_ws
Then run the terminator
Terminator
Congratulation, you can roslaunch your node in the terminator now!