Jackal Docker Setup Instructions

This guide provides step-by-step instructions for setting up and using Jackal in Docker.

Prerequisites

• Docker installed on your system
• Git installed on your system
• Terminal access with sudo privileges

Setup Instructions

1. Clone the Repository

Clone the Jackal GitHub repository to your local machine:

git clone https://github.com/ArturPrentki/Jackal.git

2. Navigate to Jackal Directory

Change to the Jackal directory:

cd Jackal

3. Build and Run Docker Container

Build the Docker image and run the container:

sudo docker build -t jackal_foxy .
sudo ./run.sh

To enter the Docker container from another terminal:

sudo ./enter.sh

4. Configure X11 Display (Host Machine)

On your host machine, run the following command to allow Docker to access the display:

xhost +local:docker

5. Install VCS Tools

Update the package cache and install VCS tools:

sudo apt-get update
sudo apt-get install python3-vcstool

6. Create Source Directory

Create a source directory for the workspace:

mkdir src

7. Clone Jackal Repositories

Download and import the Jackal dependencies:

wget https://raw.githubusercontent.com/jackal/jackal_robot/foxy-devel/dependencies.repos
vcs import src < dependencies.repos

8. Source ROS2 Foxy

Source the ROS2 Foxy installation:

source /opt/ros/foxy/setup.bash

9. Install Dependencies

Install additional dependencies using rosdep:

rosdep install --from-paths src --ignore-src --rosdistro=$ROS_DISTRO -y \
  --skip-keys=micro_ros_agent

10. Build the Workspace

Build the workspace using colcon:

colcon build

11. Source the Workspace

Source your newly built workspace:

source install/setup.bash

12. Install Clearpath Authentication Key

Add the authentication key for the packages.clearpathrobotics.com repository:

wget https://packages.clearpathrobotics.com/public.key -O - | sudo apt-key add -

13. Add Debian Sources

Add the Clearpath repository to your sources list:

sudo sh -c 'echo "deb https://packages.clearpathrobotics.com/stable/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/clearpath-latest.list'

14. Update Package Cache

Update your system's package cache:

sudo apt-get update

15. Install Jackal Packages

Install the Jackal desktop and simulator packages:

sudo apt-get install ros-foxy-jackal-desktop ros-foxy-jackal-simulator

Next Steps

For simulation instructions and additional guidance, visit the official Clearpath Robotics documentation:

🔗 Jackal Simulation Guide

Notes

• All commands in steps 5-15 should be executed inside the Docker container