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Tiago Simulation using Docker
Description: Running tiago simulation from a docker containerKeywords: pal-robotics tiago docker gazebo
Tutorial Level: BEGINNER
Pre-Requisites
Make sure that you have read the ROS Docker description and gone through the ROS Docker Tutorials.
Starting the container
To be able to run the container with GPU acceleration and be able to visualize the gazebo interface, we are going to use the methods described in Hardware Acceleration With Docker and http://wiki.ros.org/docker/Tutorials/GUI.
The docker image that we will run is palrobotics/tiago_simulation. So for running it on a computer with Nvidia graphics card execute:
sudo nvidia-docker run --env="DISPLAY" --env="QT_X11_NO_MITSHM=1" \ --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \ --device=/dev/dri:/dev/dri \ -it palrobotics/tiago_simulation
To validate the proper configuration of docker HW acceleration, execute inside the docker.
glxgears
If you see a window pop up and three cog wheels turning you're set up. Close it and proceed with the tutorial.
For troubleshooting or other types of Hardware Acceleration read the above linked tutorials.
Starting the simulation
From within the container execute the following command to start a tiago steel simulation:
source /root/tiago_public_ws/install/setup.bash roslaunch tiago_gazebo tiago_gazebo.launch robot:=steel public_sim:=True
If gazebo starts successfully you are all set, if not close it and try again, the first time gazebo starts in the docker it sometimes gets stuck downloading files from the internet.
