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Installing TIAGo Base Tutorial Docker

Author: Job van Dieten < job.1994@gmail.com >, Sai Kishor Kothakota < sai.kishor@pal-robotics.com >

Maintainer: Jordi Pages < jordi.pages@pal-robotics.com >, Thomas Peyrucain < thomas.peyrucain@pal-robotics.com >

Support: tiago-support@pal-robotics.com

Source: https://github.com/pal-robotics/pmb2_tutorials.git

Docker-based installation

First of all open a terminal and pull the image of Melodic out of pal_mobile_base_tutorials:

• docker pull palroboticssl/pal_mobile_base_tutorials:melodic

or Noetic:

• docker pull palroboticssl/pal_mobile_base_tutorials:noetic

Rocker is mandatory for the following tutorials to have a graphical user interface with docker. osrf/rocker,it is a tool to run docker images with customized local support injected for things like nvidia support, and user_id specific files for cleaner mounting file permissions. You could also find more useful information on this topic on Tooling with Docker.

• rocker with nvidia support:.

  You would need first to install nvidia docker support : https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker :

• distribution=$(. /etc/os-release;echo $ID$VERSION_ID)    && curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -    && curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
  sudo apt-get update
  sudo apt-get install -y nvidia-docker2
  sudo systemctl restart docker

  And then run the rocker

• rocker --home --user --nvidia --x11 --privileged palroboticssl/pal_mobile_base_tutorials:<ros_distro>

• rocker with intel integrated graphics support:

• rocker --home --user --x11 --privileged palroboticssl/pal_mobile_base_tutorials:<ros_distro> --devices /dev/dri/card0

The options --home and --user are used so that the user won't be root and home directory will be mounted

If you are using a version of rocker that is lower than version 0.2.4, you would need to remove the --privileged option

Once you are inside the rocker you can do

• terminator -u

To open a terminal inside the rocker that will allow you to use several terminals on the same rocker (Do not forget to source them all)

• cd /pal_mobile_base_ws/
  source devel/setup.bash

To check that everything is properly installed run the TIAGo Base simulation