artnie/intel4coro

dockerizing CRAM

Intel4coro Project - Giskard and PR2 Simulator

Start-Up

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Please install docker and docker-compose to your system.

• To install docker (only for linux user)

sudo apt  install docker.io

Check if docker is active run: sudo systemctl status docker. If status is not active, activate it run: sudo systemctl enable --now docker

• To install docker-compose

sudo apt install docker-compose

• Note: it is recommended to create docker group refer: https://docs.docker.com/engine/install/linux-postinstall/, However not mandatory.

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To install and start Giskard and PR2 Simulator follow these steps: (Linux CLI)

1. Create a directory. (any name of your choice eg.docker)
2. Create a YAML file name it as docker-compose.yml
3. Copy paste everthing of docker-compose.yml (see above) to it.
4. RUN in CLI xhost +local:docker.
5. Go to the file where it is located see step 1. cd docker
6. RUN sudo docker-compose up.

Simulate Giskard and PR2 Simulator on RVIZ

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• At the bottom left press ADD
• Under By display type ADD RobotModel
• Under By topic ADD InteractiveMarkers and MarkerArray
• Check whether the simulation worked or not on RobotModel