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Installing TIAGo Base Tutorial Docker
Description: How to pull and launch a docker all set up for the TIAGo Base Tutorial with melodic or noeticTutorial Level: BEGINNER
Next Tutorial: Robots/PMB-2/Tutorials/Installation/PMB2Simulation
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
These instructions assume that you have a basic docker understanding and have already installed it. Please familiarize yourself using the docker tutorials.
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 rockerrocker --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
