Docker file for creating the Ubuntu20 desktop with ROS noetic, Juypter notebook, and Gazebo installed
You can find the image from the docker hub:
bennyplo1218/ros-gazebo-20:latest
To build the docker image
$./build_docker
To run the docker image
$./Rundocker
You may need to set up the docker resources to ensure that you have sufficient space/memory for running the programs.
1. Start the Docker Desktop then click the setup button
2. Then select Resources, you will then be able to adjust the memory/disk space for your docker images
Once you are able to get onto the linux desktop screen via a web browser, do the following:
a)start the terminal program
b)Go to the ~/catkin_ws directory
$cd ~/catkin_ws
c)Build the catkin
$catkin build --summary
d)If you see errors, try running the “catkin build” again
e)Set up the envirionment:
$source ~/catkin_ws/devel/setup.bash
Note: the username and password are both: ubuntu
1. When running the “$catkin build –summary”, and you see errors, such as:
Make Error at /home/ubuntu/catkin_ws/src/cisst-saw/sawForceDimensionSDK/example/CMakeLists.txt:25 (find_package): Could not find a configuration file for package “cisst” that is compatible with requested version “1.0.11”…. The following configuration files were considered but not accepted: /home/ubuntu/catkin_ws/devel/cmake/cisst-config.cmake, version 1.1.02. Edit the file:
$sudo nano /home/ubuntu/catkin_ws/src/cisst-saw/sawForceDimensionSDK/example/CMakeLists.txt
3. and change the following
find_package(cisst 1.0.11 REQUIRED ….)
4. To
find_package(cisst 1.1.0 REQUIRED ….)
Note: you may have to edit a few files like this….
1. When running the “$catkin build –summary”, and you see errors, such as:
Make Error at /home/ubuntu/catkin_ws/src/dvrk-ros/dvrk_robot/CMakeLists.txt:66 (find_package): Could not find a configuration file for package “sawIntuitiveResearchKit” that is compatible with requested version “2.1.0”…. The following configuration files were considered but not accepted: /home/ubuntu/catkin_ws/devel/share/sawIntuitiveResearchKit/cmake/sawIntuitiveResearchKitConfig.cmake, version 2.0.12. Edit the file:
$sudo nano /home/ubuntu/catkin_ws/src/dvrk-ros/dvrk_robot/CMakeLists.txt
3. and change the following lines
find_package(sawRobotIO1394 2.1.0 REQUIRED) find_package(sawIntuitiveResearchKit 2.1.0 REQUIRED)4. To
find_package(sawRobotIO1394 2.0.0 REQUIRED) find_package(sawIntuitiveResearchKit 2.0.1 REQUIRED)
1. Edit the file:
$gedit ~/catkin_ws/src/cisst-saw/sawConstraintController/examples/CMakeLists.txt2. Comment out the following lines:
#add_subdirectory (SimpleCommunication) #add_subdirectory(BasicSetup)3. Edit the file:
$gedit ~/catkin_ws/src/cisst-saw/sawOptoforceSensor/examples/CMakeLists.txt4. Comment out the following lines:
#add_subdirectory (console) #add_subdirectory (Qt)