From a2b03d53c4ef60bd93e62c0655b6758f12bb7ed3 Mon Sep 17 00:00:00 2001 From: Tim Kluge <timklge@gmail.com> Date: Fri, 8 May 2020 13:56:05 +0200 Subject: [PATCH] ref #1: Add Mac OS, Windows Docker instructions --- README.md | 37 +++++++++++++++++++++++++++---------- config.xlaunch | 2 ++ docker-run-mac.sh | 11 +++++++++++ docker-run.bat | 11 +++++++++++ 4 files changed, 51 insertions(+), 10 deletions(-) create mode 100644 config.xlaunch create mode 100644 docker-run-mac.sh create mode 100644 docker-run.bat diff --git a/README.md b/README.md index 17a7ae6..2e1c0fc 100644 --- a/README.md +++ b/README.md @@ -7,7 +7,33 @@ - Currently, only very simple use cases are contained here. We will gradually update the code. Watch this space! - The examples only work when *all* projects in this workspace are checked out. -## Requirements +## Docker + +To quickly run the graphical example applications, you can use Docker. For development purposes, please use the regular installation instructions further below in this document. + +- Clone this repo and its submodules: + - as a guest: `git clone --recurse-submodules https://git-st.inf.tu-dresden.de/ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace` + - as a project member with a registered ssh key: `git clone --recurse-submodules git@git-st.inf.tu-dresden.de:ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace` +- Follow the steps for your operating system. + +### Linux + +- Install Docker for your linux distribution +- Run `./docker-run.sh roslaunch sample_applications sample_simple_simulation.launch` to build and run a docker image tagged with `ceti-panda-gazebo-workspace` + +### Windows 10 + +- Install [Docker Desktop for Windows](https://hub.docker.com/editions/community/docker-ce-desktop-windows) +- Install [Xming](https://sourceforge.net/projects/xming/) +- Run `docker-run.bat roslaunch sample_applications sample_simple_simulation.launch` + +### Mac OS + +- Install [Docker Destop for Mac OS](https://hub.docker.com/editions/community/docker-ce-desktop-mac) +- Install [XQuartz](https://www.xquartz.org/). Enable the `Allow connections from network clients` setting in the preferences (`Security` Tab). +- Run `docker-run-mac.sh roslaunch sample_applications sample_simple_simulation.launch` + +## Requirements for development - Ubuntu 18.4 - ROS Melodic @@ -43,12 +69,3 @@ See the [README.md of the submodule](../../../../sample_applications/-/blob/mast - Execution of a simple motion: `roslaunch sample_applications sample_simple_simulation.launch` - Execution of a simple motion costraint by a blocking object: `roslaunch sample_applications sample_constraint_simulation.launch` - Execution of a velocity constraint cartesian trajectory: `roslaunch sample_applications simulation.launch` - -## Docker - -To run via docker on any up-to-date linux system: - -- Clone this repo and its submodules (recommended for fresh installations): - - as a guest: `git clone --recurse-submodules https://git-st.inf.tu-dresden.de/ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace` - - as a project member with a registered ssh key: `git clone --recurse-submodules git@git-st.inf.tu-dresden.de:ceti/ros/panda_gazebo_workspace.git panda_gazebo_workspace` -- Run `./docker-run.sh roslaunch sample_applications sample_simple_simulation.launch` to build and run a docker image tagged with `ceti-panda-gazebo-workspace` \ No newline at end of file diff --git a/config.xlaunch b/config.xlaunch new file mode 100644 index 0000000..04b7fae --- /dev/null +++ b/config.xlaunch @@ -0,0 +1,2 @@ +<?xml version="1.0"?> +<XLaunch xmlns="http://www.straightrunning.com/XmingNotes" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.straightrunning.com/XmingNotes XLaunch.xsd" WindowMode="MultiWindow" ClientMode="NoClient" Display="0" Clipboard="true" NoAccessControl="true"/> diff --git a/docker-run-mac.sh b/docker-run-mac.sh new file mode 100644 index 0000000..8eaa744 --- /dev/null +++ b/docker-run-mac.sh @@ -0,0 +1,11 @@ +#!/bin/sh + +xhost + 127.0.0.1 + +docker build . -t ceti-panda-gazebo-workspace + +docker run -it \ + --env="DISPLAY=host.docker.internal:0" \ + --user="ros" \ + ceti-panda-gazebo-workspace \ + "$@" \ No newline at end of file diff --git a/docker-run.bat b/docker-run.bat new file mode 100644 index 0000000..440af3a --- /dev/null +++ b/docker-run.bat @@ -0,0 +1,11 @@ +start config.xlaunch + +docker build . -t ceti-panda-gazebo-workspace + +docker run -it^ + --env="DISPLAY=host.docker.internal:0"^ + --user="ros"^ + ceti-panda-gazebo-workspace^ + %* + +pause \ No newline at end of file -- GitLab