thesis_docker

Autonomous exploration and interactive mapping thesis docker

Package layout

• docker-workspace
  • bridge_ws : Contains the package establishing communication between ROS and ROS2
  • catkin_ws : Contains the package establishing communication between ROS and Unity
    • https://github.com/antonikaras/thesis_ros.git
  • colcon_ws : Contain the package that handles the autonomous exploration
    • https://github.com/antonikaras/thesis_ros2.git

How to install

• Clone the repository

git clone https://github.com/antonikaras/thesis_docker.git
git submodule update --init --recursive
cd docker-workspace/colcon_ws/src/thesis_ros2
git checkout main
git pull

• Build the docker image

docker build --tag thesis_ros2 . --rm
docker system prune

• Enter the docker environment

  • First terminal :./run-docker-image-gpu.sh
  • Second, third ... terminal : docker exec -it thesis_ros2-tester bash

• Build the individual ros environments:

  • Terminal - 1 : Build the ROS workspace

  ./run-docker-image-gpu.sh
  bws
  

  • Terminal - 2 : Build the ROS2 workspace

  docker exec -it thesis_ros2-tester bash
  bws2
  

  • Terminal - 3 : Build the ros1_bridge workspace

  docker exec -it thesis_ros2-tester bash
  bbws
  

How to use

• Each git repository contains thorough instructions on how to use them