Advantech Robotic Suite/Container/Utility ROS Container - Revision history

Ray.zheng at 03:24, 25 June 2025

2025-06-25T03:24:26Z

Ray.zheng at 09:04, 19 December 2024

2024-12-19T09:04:49Z

Ray.zheng at 08:36, 19 December 2024

2024-12-19T08:36:06Z

Ray.zheng at 07:00, 13 December 2024

2024-12-13T07:00:49Z

Ray.zheng at 06:53, 13 December 2024

2024-12-13T06:53:31Z

Ray.zheng at 02:25, 13 December 2024

2024-12-13T02:25:36Z

Ray.zheng at 02:23, 13 December 2024

2024-12-13T02:23:35Z

Ray.zheng at 02:21, 13 December 2024

2024-12-13T02:21:28Z

Ray.zheng at 02:08, 13 December 2024

2024-12-13T02:08:22Z

Ray.zheng at 02:04, 13 December 2024

2024-12-13T02:04:57Z

@@ Line 8: / Line 8: @@
 '''Step1: Launch the docker container of util-ros2-humble'''<br>
 If the container has been launched before, you can skip this step.
-<syntaxhighlight lang="bash">
+<pre>
 $ cd /usr/local/Advantech/ros/container/docker
 $ ./launch.sh util-ros2-humble
-</syntaxhighlight>
+</pre>
 '''Step2: Accessing the container'''
-<syntaxhighlight lang="bash">
+<pre>
 $ docker exec -it util-ros2-humble bash
-</syntaxhighlight>
+</pre>
 '''Step3: Launch rviz2'''
-<syntaxhighlight lang="bash">
+<pre>
 $ rviz2
-</syntaxhighlight>
+</pre>
 [[File:ROS2 rviz.png|500px|ROS2 RViz]]<span style="color:#FF0000;">&nbsp;</span>
 '''Note'''<br>
 If you want to import a custom RViz2 layout configuration file, you can place the configuration file in '/usr/local/Advantech/ros/container/share/rviz2/default.rviz', then manually overwrite the configuration file inside the container.
-<syntaxhighlight lang="bash">
+<pre>
 $ docker exec -it util-ros2-humble bash
 $ cp /usr/local/Advantech/ros/container/share/rviz2/default.rviz /root/.rviz2/default.rviz
-</syntaxhighlight>
+</pre>
 === Launch RQT ===
@@ Line 35: / Line 35: @@
 '''Step1: Launch the docker container of util-ros2-humble'''<br>
 If the container has been launched before, you can skip this step.
-<syntaxhighlight lang="bash">
+<pre>
 $ cd /usr/local/Advantech/ros/container/docker
 $ ./launch.sh util-ros2-humble
-</syntaxhighlight>
+</pre>
 '''Step2: Accessing the container'''
-<syntaxhighlight lang="bash">
+<pre>
 $ docker exec -it util-ros2-humble bash
-</syntaxhighlight>
+</pre>
 '''Step3: Launch rqt'''
-<syntaxhighlight lang="bash">
+<pre>
 $ rqt
-</syntaxhighlight>
+</pre>
 [[File:ROS2 Suite SW rqt graph.png|500px|ROS2 rqt graph]]
@@ Line 55: / Line 55: @@
 '''Step1: Launch the docker container of util-ros2-humble'''<br>
 If the container has been launched before, you can skip this step.
-<syntaxhighlight lang="bash">
+<pre>
 $ cd /usr/local/Advantech/ros/container/docker
 $ ./launch.sh util-ros2-humble
-</syntaxhighlight>
+</pre>
 '''Step2: Accessing the container'''
-<syntaxhighlight lang="bash">
+<pre>
 $ docker exec -it util-ros2-humble bash
-</syntaxhighlight>
+</pre>
 '''Step3: Launch Cartographer'''<br>
@@ Line 71: / Line 71: @@
 '''Step1: Launch the docker container of util-ros2-humble'''<br>
 If the container has been launched before, you can skip this step.
-<syntaxhighlight lang="bash">
+<pre>
 $ cd /usr/local/Advantech/ros/container/docker
 $ ./launch.sh util-ros2-humble
-</syntaxhighlight>
+</pre>
 '''Step2: Accessing the container'''
-<syntaxhighlight lang="bash">
+<pre">
 $ docker exec -it util-ros2-humble bash
-</syntaxhighlight>
+</pre>
 '''Step3: Launch Nav2'''<br>
@@ Line 86: / Line 86: @@
 '''Note'''<br>
 If you want to import a custom Nav2 configuration file, you can place the configuration file in '/usr/local/Advantech/ros/container/share/nav2/nav2_params.yaml', then manually overwrite the configuration file inside the container.
-<syntaxhighlight lang="bash">
+<pre>
 $ docker exec -it util-ros2-humble bash
 $ cp nav2_params.yaml /opt/ros/humble/share/nav2_bringup/params/nav2_params.yaml
-</syntaxhighlight>
+</pre>
 === Launch MoveIt ===
@@ Line 95: / Line 95: @@
 '''Step1: Launch the docker container of util-ros2-humble'''<br>
 If the container has been launched before, you can skip this step.
-<syntaxhighlight lang="bash">
+<pre>
 $ cd /usr/local/Advantech/ros/container/docker
 $ ./launch.sh util-ros2-humble
-</syntaxhighlight>
+</pre>
 '''Step2: Accessing the container'''
-<syntaxhighlight lang="bash">
+<pre>
 $ docker exec -it util-ros2-humble bash
-</syntaxhighlight>
+</pre>
 '''Step3: Launch MoveIt'''<br>
@@ Line 113: / Line 113: @@
 . Allow access to the user's X server from the local network.<br>
 Open a terminal to run the command.
-<syntaxhighlight lang="bash">
+<pre>
 $ xhost +local:
-</syntaxhighlight>
+</pre>
 . Set a specific DISPLAY environment variable in docker-compose.
-<syntaxhighlight lang="bash">
+<pre>
 $ vim /usr/local/Advantech/ros/container/docker/docker-compose/util-ros2-humble/docker-compose.yml
-</syntaxhighlight>
+</pre>
 Then remove the old container and launch a new one. Remember to backup your data and configuration files in container.
-<syntaxhighlight lang="bash">
+<pre>
 $ docker rm -f util-ros2-humble
 $ cd /usr/local/Advantech/ros/container/docker
 $ ./launch.sh util-ros2-humble
-</syntaxhighlight>
+</pre>
 [[File:ROS2 Suite docker compose display setting.png|300px|ROS2 Suite docker compose display setting]]

@@ Line 66: / Line 66: @@
 '''Step3: Launch Cartographer'''<br>
-Please refer to [https://ros2-industrial-workshop.readthedocs.io/en/latest/_source/navigation/ROS2-Cartographer.html ROS2-Cartographer] for usage instructions, or use [[Advantech Robotic Suite/Container/Utility_ROS_Container/ROS2-Cartographer-Example|Advantech quick cartographer example]].
+Please refer to [https://ros2-industrial-workshop.readthedocs.io/en/latest/_source/navigation/ROS2-Cartographer.html ROS2-Cartographer] for usage instructions, or use [[Advantech Robotic Suite/Container/Utility_ROS_Container/ROS2-Cartographer-Example|Advantech's quick Cartographer example]].
 === Launch Nav2 ===

@@ Line 66: / Line 66: @@
 '''Step3: Launch Cartographer'''<br>
-Please refer to [https://ros2-industrial-workshop.readthedocs.io/en/latest/_source/navigation/ROS2-Cartographer.html ROS2-Cartographer] for usage instructions.
+Please refer to [https://ros2-industrial-workshop.readthedocs.io/en/latest/_source/navigation/ROS2-Cartographer.html ROS2-Cartographer] for usage instructions, or use [[Advantech Robotic Suite/Container/Utility_ROS_Container/ROS2-Cartographer-Example|Advantech quick cartographer example]].
 === Launch Nav2 ===

@@ Line 121: / Line 121: @@
 $ vim /usr/local/Advantech/ros/container/docker/docker-compose/util-ros2-humble/docker-compose.yml
 </syntaxhighlight>
-Then restart container
+Then remove the old container and launch a new one. Remember to backup your data and configuration files in container.
 <syntaxhighlight lang="bash">
 $ docker rm -f util-ros2-humble

@@ Line 23: / Line 23: @@
 </syntaxhighlight>
 [[File:ROS2 rviz.png|500px|ROS2 RViz]]<span style="color:#FF0000;">&nbsp;</span>
 === Launch RQT ===
@@ Line 38: / Line 45: @@
 </syntaxhighlight>
-'''Step3: Launch rviz2'''
+'''Step3: Launch rqt'''
 <syntaxhighlight lang="bash">
 $ rqt
@@ Line 77: / Line 84: @@
 '''Step3: Launch Nav2'''<br>
 Please refer to [https://docs.nav2.org/tutorials/index.html ROS2-Navigation2] for usage instructions.
 === Launch MoveIt ===

@@ Line 94: / Line 94: @@
 '''Step3: Launch MoveIt'''<br>
 Please refer to [https://moveit.picknik.ai/main/doc/tutorials/tutorials.html ROS2-MoveIt] for usage instructions.
 == Note ==

@@ Line 98: / Line 98: @@
 == Note ==
-When starting a GUI application inside a container, you might encounter rendering issues. A common cause is an incorrectly set DISPLAY environment variable for X11. There are the following two methods to fix this:
+When starting a GUI application inside a container, you might encounter rendering issues. A common cause is an incorrectly set DISPLAY environment variable for X11. There are the following methods to fix this:
 . Allow access to the user's X server from the local network.<br>

← Older revision	Revision as of 02:04, 13 December 2024
Line 96:	Line 96:


	+
	+	== Note ==
	+	When starting a GUI application inside a container, you might encounter rendering issues. A common cause is an incorrectly set DISPLAY environment variable for X11. To fix this:
	+
	+	1. Allow access to the user's X server from the local network.<br>
	+	Open a terminal to run the command.
	+	<syntaxhighlight lang="bash">
	+	$ xhost +local:
	+	</syntaxhighlight>
	+	2. Set a specific DISPLAY environment variable in docker-compose.
	+	<syntaxhighlight lang="bash">
	+	$ vim /usr/local/Advantech/ros/container/docker/docker-compose/util-ros2-humble/docker-compose.yml
	+	</syntaxhighlight>
	+	[[File:ROS2 Suite docker compose display setting.png\|500px\|ROS2 Suite docker compose display setting]]