docking_module

robotics team project. mobile robot docking module using marker

command

roslaunch docking_gazebo robot.launch
roslaunch marker_detecting detecting_marker.launch marker_id:=7
roslaunch docking_planner generate_path.launch 
roslaunch docking_tracker path_tracking.launch

topic name

compute_Path(msg type - Path)

parameter name

path_displacement -> straight section length

robot_size

marker_displacement

---

robot_size + marker_displacement = distance from marker

도커 실행방법

make docker image

cd ~/path/docking_modules
docker build -t docking:latest .

run docker container

nvidia-docker run -it --restart unless-stopped --gpus all -v /run/user/1000:/run/user/1000 -v /dev:/dev -v /tmp/.X11-unix:/tmp/.X11-unix:ro --privileged --shm-size=256m -e DISPLAY=$DISPLAY -e QT_X11_NO_MITSHM=1 -e XAUTORITY=/tmp/.docker.xauth -e XDG_RUNTIME_DIR=/run/user/1000 --name "docking" docking:latest /bin/bash

run simulation

docker exec -it docking /bin/bash
simul

## another container
docker exec -it docking /bin/bash
rosservice call /set_start "data : true"