This code defines a docker image to interface with the MIT Racecar. The image is built from a Debian base, includes the latest version of ROS, and the racecar simulator. It can be interfaced through a terminal or graphically through a browser or VNC client.
If you do not already have docker, follow the install instructions for your OS here.
Start the docker image by running:
sudo docker run -ti --net=host racecar/racecar
The first time you run this command you will need to wait a little while for the image to download. Future runs should be instantaneous and won't require an internet connection. The image is currently ~2.25GB (ROS is big).
Unfortunately, due to the way that networking is implemented in macOS, the --net=host flag does not work
[1,2].
You can partially fix this by running:
sudo docker run -tip 6080:6080 -p 5900:5900 racecar/racecar
If you are running Windows you may also need to run the following before running docker to get the terminal to work properly:
alias docker="winpty docker"
See the Additional Docker Options section for more useful docker flags.
When you run the command above, you will be presented with a new bash shell in the folder racecar_ws.
This shell has ROS installed (e.g. try running roscore).
It also has the programs screen and tmux installed.
These programs allow you to run many shells from within the same window.
In addition to the terminal interface, you can interact with the image visually through either your browser or through VNC.
This allows you to use programs like rviz.
To use the image in the browser, navigate to http://localhost:6080/vnc.html. Hit the "Connect" button and you're in!
Alternatively, you can interface with the image using any VNC client with address localhost:5900.
Some operating systems (e.g. windows) don't like the localhost variable. If you can't connect you may have to type in the docker image's actual IP address. Find the IP address by typing hostname -I in the image's terminal.
Then visit either of the links above, replacing localhost with this IP.
The visual interface has two buttons that launch a terminal and rviz respectively.
By default, clicking on the terminal button when a terminal is already open minimizes that window.
To open multiple terminals, type CTRL and then click on the terminal icon.
To get started with the simulator, first run the following in any shell:
roslaunch racecar_simulator simulate.launch
Then open rviz.
You should see a blue car on a black and white background (a map) and some colorful dots (simulated lidar).
If you click the green 2D Pose Estimate arrow on the top you can change the position of the car.
Alternatively use a joystick to drive the car as described below.
By default the image is set up to use ROS locally. If you want to connect the image to another rosmaster (e.g. a racecar) you need to change some ROS variables. You can do this automatically by running:
sudo docker run -ti --net=host racecar/racecar CAR_NUMBER
This sets the correct ROS_IP, ROS_MASTER_URI, and /etc/hosts variables, assuming that the car's IP is 192.168.1.CAR_NUMBER. When you launch rviz it will display topics published on the racecar. Note that this won't work on macOS due to the networking issues described above.
You will also be able to ssh into the racecar from within the docker image by typing:
ssh racecar@racecar
Docker images do not save changes made to them by default which can be dangerous when writing lots of code. Plus, the docker image may not have your favorite text editor, window manager, etc. installed. To solve both of these issues, you can mount a local folder into the docker image. This will make sure your changes are written and give you the freedom to edit the code in whatever environment you would like.
We recommend that you mount into the /racecar_ws/src folder.
This is typically where all of your code will live while working with the racecar or the racecar simulator.
You can do this by adding the following to your docker run command:
sudo docker run -tiv /full/path/to/local/folder:/racecar_ws/src --net=host racecar/racecar
To use a joystick in the image (e.g. to use with the simulator),
you need to forward inputs from that USB device into docker.
Most joysticks map to /dev/input/js0 by default, so you can add that device with:
sudo docker run -ti --net=host --device=/dev/input/js0 racecar/racecar
To build the image from scratch, run:
git clone https://github.com/mit-racecar/racecar_docker.git
cd racecar_docker
sudo docker build -t racecar .
Then run with:
sudo docker run -ti --net=host racecar