iai_donbot_unreal_ws

This repository contains docker images for deploying ROS packages with https://github.com/K4R-IAI/K4R_Development

0. Prerequisites: https://docs.docker.com/compose/install

No ROS required, No Unreal Engine required, just a PC with a good NVIDIA Graphic Card :)

docker-compose version 1.29.2, build 5becea4c
docker-py version: 5.0.0

1. If you want to use a package simulator from Unreal Engine, download it at https://seafile.zfn.uni-bremen.de/f/e49379520efc48c69c8f and unzip it

2. Clone this repository and go into docker folder

cd docker

3. Follow these steps to build docker images:

3.1. Clone the packages with wstool

./setup_ros_packages.bash

3.2. Install nvidia-docker2 to enable GPU access with Compose (sudo required)

./setup_rviz.bash

3.3. Build the docker images

docker-compose build

4. Using the docker images

4.1. Start k4r-ros-core and k4r-iai-donbot-unreal-ws

docker-compose up k4r-iai-donbot-unreal-ws

4.2. Start the simulation (either by clicking Play in Unreal Engine or from the unziped package)

cd LinuxNoEditor
sh K4R_Development.sh

4.3. On the menu, click Load, then click Random Shop. You should see the connection in both terminals (one from 4.1 and one from 4.2)

4.4. Execute ROS command inside k4r-iai-donbot-unreal-ws-container by opening a new terminal

docker exec -it k4r-iai-donbot-unreal-ws-container bash
source devel/setup.bash
roslaunch iai_donbot_unreal iai_donbot_control.launch

4.5. You can visualize everything with rviz from docker container

./run_rviz.bash

The result should look like this:

5. Stop docker containers

5.1. Cancel every terminals with Ctrl + C

5.2. Remove docker containers and network

docker-compose down