MiRo Docker

MiRo & MiRo Developer Kit simulation and development environment in Docker.

⚙️ Installation

📝 Changelog

🧠 To-Do

🚀 Quick Start

Host OS

# Clone this repository, either into your host OS or into the WSL distro
git clone https://github.com/AlexandrLucas/miro-docker.git

# Pull/build image and start a MiRo Docker container (select default values)
./miro-docker.sh start

# Attach a terminal to the running container
./miro-docker.sh term

Run miro-docker.sh without arguments for help on usage.

Note: You can add a miro-hub alias for the miro-docker.sh script onto your PATH by running tools/miro-hub-installer.sh.
This allows to run the script from any folder.

MiRo Docker

Check for the Starship Docker prompt to ensure you're in the right place:

The MiRo docker image ships with an all-in-one miro script.
Below are some examples of the functionality it provides.

Example 1. Gazebo simulator + MiRo GUI app

You'll need to open three terminal windows and run the following:

[Terminal 1] roscore
[Terminal 2] miro sim
[Terminal 3] miro gui

Example 2. Gazebo simulator + MiRo autonomous mode + MiRo dashboard

You'll need quite a few terminal windows for this one!

Note: The command in Terminal 6 is used to make the blue ball move in a periodic motion, providing a stimuli for the MiRo.

The final bit, MiRo dashboard, can be viewed by following the link in the output of Terminal 7.

[Terminal 1] roscore
[Terminal 2] miro sim
[Terminal 3] miro demo
[Terminal 4] miro demo caml
[Terminal 5] miro demo camr
[Terminal 6] rosrun com3528_examples ball_mover.py 
[Terminal 7] miro dashboard

Example 3. Three MiRos chasing the ball in the simulator

This example shows the power of roslaunch files.

Note: roscore starts automatically when running a roslaunch file.

[Terminal] roslaunch com3528_examples sim_football.launch

Example 4. Running MiRo GUI for a real MiRo

By default, the MiRo Docker image works in simulation, but by changing a few settings you can just as easily work a physical MiRo. You'll need to do the following:

1. Ensure that the MiRo and your computer are on the same subnet and are visible to each other.
2. Switch the mode by running miro mode robot (as opposed to miro mode sim).
3. Input the IPv4 address of your MiRo by running miro ip update.
4. Open a new terminal and run miro status to ensure that everything is set up correctly.
5. Run miro gui.