Skip to content

README.md

Latest commit

 

History

History
73 lines (53 loc) · 2.26 KB

README.md

File metadata and controls

73 lines (53 loc) · 2.26 KB

Usage Instructions

Prerequisites

  • Docker Installation 
    # Install Docker using convenience script
curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh ./get-docker.sh

# Post-install configuration
sudo groupadd docker
sudo usermod -aG docker $USER
sudo systemctl enable docker.service
sudo systemctl enable containerd.service

# Verify installation
sudo systemctl is-enabled docker

Reboot before proceeding further

GHCR Authentication

echo "<YOUR_GITHUB_PAT>" | docker login ghcr.io -u <YOUR_GITHUB_USERID> --password-stdin
  • VSCode
  • Remote Development Extension by Microsoft (Inside VSCode)

Setup Process

  • Create a folder for Husky development 
    mkdir husky_ws && cd husky_ws
# Clone the repo 
git clone https://github.com/RoboticsIIITH/husky_ws.git .
# Open VSCode 
code .
  • To enter the container

    • Open Command Pallete with Ctrl+Shift+P

    • Select Dev Containers: Reopen in Container

    • Use Build WS button to build workspace

Start up the ROS

  1. Launch 
    sudo chmod +777 /dev/ttyUSB0
roslaunch husky_base base.launch

    • Use sudo apt remove brltty if /dev/tty/USB0 port is not visible after connecting to Husky.

    • Optionally, you can plug a joystick and teleop the robot where you can use LG and RB buttons together on the joystick to move the husky robot around.

Docker

  • To permanently add any ROS APT packages, list them in the rosPkgs.list file, then rebuild the Docker image using:

    docker build -t ghcr.io/rtarun1/husky_base -f .devcontainer/Dockerfile .devcontainer

  • Always run sudo apt update inside the container before installing any additional packages.

  • For Docker-related questions or issues, feel free to open an issue on the DockerForROS2Development

Credits