how to run subt: ./subt/docker/run.bash osrf/subt-virtual-testbed:latest circuit:=cave cave_circuit.ign worldName:=simple_cave_01 robotName1:=X1 robotConfig1:=EXPLORER_X1_SENSOR_CONFIG_1
sudo docker run -it -d --rm -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v $HOME/.Xauthority/:/root/.Xauthority:rw -v $PWD:/home/ws --privileged -e DISPLAY=$DISPLAY --network=host {IMAGE_PID} /bin/bash
docker run -it -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v $HOME/.Xauthority/:/root/.Xauthority:rw -v $PWD:/home/ws --privileged -e DISPLAY=$DISPLAY --network=host 6a74c5a63767 /bin/bash
docker exec -it docker ps --filter ancestor=osrf/subt-virtual-testbed --format {{.ID}} /bin/bash
sudo apt-get update && sudo apt-get install ros-melodic-teleop-twist-keyboard rosrun teleop_twist_keyboard teleop_twist_keyboard.py /cmd_vel:=/X1/cmd_vel rosrun tf static_transform_publisher 0 0 0 0 0 0 1 X2/base_link X2/odom 1 rosrun tf tf_echo /X1/base_link/front_laser /X1/base_link/imu_sensor roslaunch imu_filter_madgwick imu_filter_madgwick.launch roslaunch lio_sam run.launch