create2_docker

Docker images to control a real iRobot Create 2 with ROS 2 and simulate it in Webots.

Prerequisities

Install everything with the following script:

./setup_project.sh

• Note: It will require sudo.

Real robot

Build and run

docker-compose up --build hardware

Simulation

Bringup

docker-compose up --build webots_simulation

Debugging

docker-compose run --rm dev [bash]

You can replace [bash] with any other command like [tmux].

Getting started

To bring up more services (graphical tools, navigation, etc.) run:

docker-compose config --services

• Tip: You can run more than one service simultaneously appending their names:

docker-compose up hardware autonomy