Difference between revisions of "Advantech Robotic Suite/Container/Utility ROS Container"
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</syntaxhighlight> | </syntaxhighlight> | ||
[[File:ROS2 rviz.png|500px|ROS2 RViz]]<span style="color:#FF0000;"> </span> | [[File:ROS2 rviz.png|500px|ROS2 RViz]]<span style="color:#FF0000;"> </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"> | ||
| + | $ docker exec -it util-ros2-humble bash | ||
| + | $ cp /usr/local/Advantech/ros/container/share/rviz2/default.rviz /root/.rviz2/default.rviz | ||
| + | </syntaxhighlight> | ||
=== Launch RQT === | === Launch RQT === | ||
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</syntaxhighlight> | </syntaxhighlight> | ||
| − | '''Step3: Launch | + | '''Step3: Launch rqt''' |
<syntaxhighlight lang="bash"> | <syntaxhighlight lang="bash"> | ||
$ rqt | $ rqt | ||
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'''Step3: Launch Cartographer'''<br> | '''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's quick Cartographer example]]. |
| − | |||
=== Launch Nav2 === | === Launch Nav2 === | ||
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'''Step3: Launch Nav2'''<br> | '''Step3: Launch Nav2'''<br> | ||
Please refer to [https://docs.nav2.org/tutorials/index.html ROS2-Navigation2] for usage instructions. | Please refer to [https://docs.nav2.org/tutorials/index.html ROS2-Navigation2] for usage instructions. | ||
| + | |||
| + | '''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"> | ||
| + | $ docker exec -it util-ros2-humble bash | ||
| + | $ cp nav2_params.yaml /opt/ros/humble/share/nav2_bringup/params/nav2_params.yaml | ||
| + | </syntaxhighlight> | ||
=== Launch MoveIt === | === Launch MoveIt === | ||
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'''Step3: Launch MoveIt'''<br> | '''Step3: Launch MoveIt'''<br> | ||
Please refer to [https://moveit.picknik.ai/main/doc/tutorials/tutorials.html ROS2-MoveIt] for usage instructions. | Please refer to [https://moveit.picknik.ai/main/doc/tutorials/tutorials.html ROS2-MoveIt] for usage instructions. | ||
| − | |||
| − | |||
== Note == | == 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 | + | 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: |
1. Allow access to the user's X server from the local network.<br> | 1. Allow access to the user's X server from the local network.<br> | ||
| Line 109: | Line 120: | ||
$ vim /usr/local/Advantech/ros/container/docker/docker-compose/util-ros2-humble/docker-compose.yml | $ vim /usr/local/Advantech/ros/container/docker/docker-compose/util-ros2-humble/docker-compose.yml | ||
</syntaxhighlight> | </syntaxhighlight> | ||
| − | Then | + | Then remove the old container and launch a new one. Remember to backup your data and configuration files in container. |
<syntaxhighlight lang="bash"> | <syntaxhighlight lang="bash"> | ||
$ docker rm -f util-ros2-humble | $ docker rm -f util-ros2-humble | ||
Latest revision as of 11:04, 19 December 2024
Contents
Utility ROS Container
The Utility ROS Container image integrates various commonly used tools and utilities for ROS2 users, including RViz2, RQT, Cartographer, Nav2, and MoveIt. This container enables users to quickly access and utilize these features.
How To
Launch RViz2
Step1: Launch the docker container of util-ros2-humble
If the container has been launched before, you can skip this step.
$ cd /usr/local/Advantech/ros/container/docker
$ ./launch.sh util-ros2-humble
Step2: Accessing the container
$ docker exec -it util-ros2-humble bash
Step3: Launch rviz2
$ rviz2
Note
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.
$ docker exec -it util-ros2-humble bash
$ cp /usr/local/Advantech/ros/container/share/rviz2/default.rviz /root/.rviz2/default.rviz
Launch RQT
Step1: Launch the docker container of util-ros2-humble
If the container has been launched before, you can skip this step.
$ cd /usr/local/Advantech/ros/container/docker
$ ./launch.sh util-ros2-humble
Step2: Accessing the container
$ docker exec -it util-ros2-humble bash
Step3: Launch rqt
$ rqt
Launch Cartographer
Step1: Launch the docker container of util-ros2-humble
If the container has been launched before, you can skip this step.
$ cd /usr/local/Advantech/ros/container/docker
$ ./launch.sh util-ros2-humble
Step2: Accessing the container
$ docker exec -it util-ros2-humble bash
Step3: Launch Cartographer
Please refer to ROS2-Cartographer for usage instructions, or use Advantech's quick Cartographer example.
Step1: Launch the docker container of util-ros2-humble
If the container has been launched before, you can skip this step.
$ cd /usr/local/Advantech/ros/container/docker
$ ./launch.sh util-ros2-humble
Step2: Accessing the container
$ docker exec -it util-ros2-humble bash
Step3: Launch Nav2
Please refer to ROS2-Navigation2 for usage instructions.
Note
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.
$ docker exec -it util-ros2-humble bash
$ cp nav2_params.yaml /opt/ros/humble/share/nav2_bringup/params/nav2_params.yaml
Launch MoveIt
Step1: Launch the docker container of util-ros2-humble
If the container has been launched before, you can skip this step.
$ cd /usr/local/Advantech/ros/container/docker
$ ./launch.sh util-ros2-humble
Step2: Accessing the container
$ docker exec -it util-ros2-humble bash
Step3: Launch MoveIt
Please refer to ROS2-MoveIt for usage instructions.
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 methods to fix this:
1. Allow access to the user's X server from the local network.
Open a terminal to run the command.
$ xhost +local:
2. Set a specific DISPLAY environment variable in docker-compose.
$ vim /usr/local/Advantech/ros/container/docker/docker-compose/util-ros2-humble/docker-compose.yml
Then remove the old container and launch a new one. Remember to backup your data and configuration files in container.
$ docker rm -f util-ros2-humble
$ cd /usr/local/Advantech/ros/container/docker
$ ./launch.sh util-ros2-humble
