Usage Instructions

Prerequisites

• Docker Installation

  # Install Docker using convenience script
  curl -fsSL https://get.docker.com -o get-docker.sh
  sudo sh ./get-docker.sh
  
  # Post-install configuration
  sudo groupadd docker
  sudo usermod -aG docker $USER
  sudo systemctl enable docker.service
  sudo systemctl enable containerd.service
  
  # Verify installation
  sudo systemctl is-enabled docker

Reboot before proceeding further

GHCR Authentication

echo "<YOUR_GITHUB_PAT>" | docker login ghcr.io -u <YOUR_GITHUB_USERID> --password-stdin

Prerequisites

• VSCode
• Remote Development Extension by Microsoft (Inside VSCode)

Setup Process

• Create a folder for P3DX development

  mkdir P3DX && cd P3DX
  # Clone the repo 
  git clone https://github.com/rtarun1/P3DX-Docker.git .
  # Open VSCode 
  code .

• To enter the container

  • Open Command Pallete with Ctrl+Shift+P

  • Select Dev Containers: Reopen in Container

  • Use Build WS button to build workspace

Start up the ROS Master Node

roscore

Setup connection with the robot

Make sure to source the workspace on each terminal.

source devel/setup.bash

sudo chmod +777 /dev/ttyUSB0

rosrun rosaria RosAria

Setting up the Camera

roslaunch realsense2_camera rs_camera.launch align_depth:=true

To get pointclouds from the RGBD images:

roslaunch realsense2_camera rs_camera.launch align_depth:=true enable_pointcloud:=true

Setup the conversion of RGBD images to Laser Scans

roslaunch depthimage_to_laserscan launchfile_sample.launch

Setup the navigation node

roslaunch turtlebot3_navigation turtlebot3_navigation.launch

Setting up Parser Based Navigation

rosrun turtlebot3_navigation talker

rosrun turtlebot3_navigation Voice_NLP

Start up the ROS

1. Launch

   sudo chmod +777 /dev/ttyUSB0
   roslaunch husky_base base.launch 
   

   • Optionally, you can plug a joystick and teleop the robot.

Docker

• To permanently add any ROS APT packages, list them in the rosPkgs.list file, then rebuild the Docker image using:

  docker build -t ghcr.io/rtarun1/husky_base -f .devcontainer/Dockerfile .devcontainer
  

• Always run sudo apt update inside the container before installing any additional packages.

• For Docker-related questions or issues, feel free to open an issue on the DockerForROS2Development

Credits

• This Docker setup was adapted from Soham's repository.
• If you use this repository for your project or publication, please consider citing or acknowledging the contributors accordingly.