robotdev

A homebase for robot-related development.

Watch this Youtube tutorial on Spot development which includes an introduction and demo of this framework starting at 55:17.

Structure

Each robot gets a corresponding directory. The directory is typically (at least contains) a designated ROS workspace for that robot. The robot-specific code is maintained in submodules (i.e. other repositories). This repository serves as the hub for all the robot-related development efforts.

Getting Started

1. Build the robotdev docker image.

   source docker/scripts/build.{version}.sh [options]
   

   {version} could be: kinetic, noetic, humble.

   [options] include:

   • --hostuser={username}]. The username inside docker
   • --tag-suffix={tag-suffix}. The resulting docker image will have a tag {version}:{tag-suffix}

2. Run the docker container

   source docker/scripts/run.{version}.sh [--gui]
   

   --gui runs the container so that GUI (X11 forwarding) is supported:

Robot-specific setup

To setup your container for a robot, see the README file under the robot's directory (e.g .spot).

Convenient Docker Utilities

To have access to convenient docker functions such as dsh, dls, etc. run

source docker/scripts/docker_functions.sh

Note that you should do this outside docker.