SPEAR Turtlebot

Linux Instructions

Install docker, docker compose, and git if you do not already have them installed.

• Instructions for installing docker: https://docs.docker.com/engine/install/
• Instructions for install docker compose: https://docs.docker.com/compose/install/
• Instructions for installing git: https://git-scm.com/book/en/v2/Getting-Started-Installing-Git

Clone this repository and cd into it:

git clone https://github.com/UofA-SPEAR/spear-turtlebot.git
cd spear-turtlebot

Build the docker image using docker compose:

docker-compose build spear-turtlebot

Run a docker container:

docker-compose run spear-turtlebot

Inside the docker container, you can launch a gazebo simulation as follows:

export TURTLEBOT3_MODEL=waffle
ros2 launch turtlebot3_gazebo empty_world.launch.py

Note that you can edit files on the host system and they will be updated in the docker container.