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Commit a2b03d53 authored by Tim Kluge's avatar Tim Kluge
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ref #1: Add Mac OS, Windows Docker instructions

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- 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`
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<?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"/>
#!/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
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
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