bay

Issues Created

  • #5: Create a base template for ROS2 RADI; related to #796
  • #1045: VirtualGL Error: curl: (22) The requested URL returned error: 404 Not Found

Issues Solved

  • Created the base template (Demo below). Code on my fork’s branch “issue-796”
  • #1046: Updated url & version of VirtualGL in Dockerfile-2.4.base; solves #1045
  • #1047: Updated url and version of VirtualGL in Dockerfile-noetic-3.1; solves #1045

Progress on the Issue

Desired Baseline Features of the Test Exercise
Test Exercise


Demonstrations

Initial demo of ROS2 Foxy RADI with tb3_teleop exercise


Final demo inside the Turtlebot3 World Environment

(The missing blue scan lines occasionally appear and sometimes don’t in a new run. Mysterious at the moment. Hope to find some inroads to solve it)

Steps to replicate

Pushed the changes!!
The Foxy RADI demo is ready

git clone https://github.com/trunc8/RoboticsAcademy.git
cd RoboticsAcademy/scripts
git checkout issue-796
./build.sh
docker run -it \
      --rm \
      -v /tmp/.X11-unix:/tmp/.X11-unix \
      --name foxy_radi_container \
      -v $PWD/../:/RoboticsAcademy \
      -p 8000:8000 -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 1108:1108 \
      foxy-radi ./start.sh
  • Click the Django server URL presented
  • Press “Connect”
  • After successful connection, press the “Gazebo” button
  • The Turtlebot3 world and the bot should be visible
  • Press the “Console” button and run ros2 run turtlebot3_teleop teleop_keyboard to teleoperate the bot

Observations and Design Decisions

Cross-referencing my other blogs —

  1. Solving a mystery and discovering good practices in the process:
    Why ~/.bashrc is not allowed to be sourced inside ./start.sh
  2. Making a flowchart of the Existing Websocket Architecture Design
  3. More design decisions inside my Roughwork Notes