Installation

Building Container

• depending on used host system 3-20min

docker build --platform=linux/amd64 -t ros2-vnc .

oder ohne cache:

docker build --no-cache --platform=linux/amd64 -t ros2-vnc .

Running with Quickstart Skript

docker compose -f docker-compose.yml up

if container already exists:

docker compose -f docker-compose.yml down
docker compose -f docker-compose.yml up

Running in Browser without VNC Viewer without quickstart script

• copy + paste from and to host system does not work

docker run --platform=linux/amd64 -p 8080:8080 --shm-size=2g --name ros2-vnc-test ros2-vnc

Running in Browser and / or VNC Viewer without quickstart script

docker run -it \
  -p 8080:8080 \
  -p 5900:5900 \
  --shm-size=2g \
  --name ros2-vnc-test \
  ros2-vnc

Troubleshooting

• ros2-vnc-test already exists

docker rm -f ros2-vnc-test

Oder

docker rm -f ros2-vnc

Create new nodes

cd /home/user/workspace/ros2_ws/src
ros2 pkg create --build-type ament_python edu_template --license MIT --node-name dont_hit_the_wall_node
cd ..
colcon build --symlink-install --packages-select edu_template --event-handlers console_direct+

Navigation

Run the localization without a known map -> Mapping (SLAM)

EDU_ROBOT_NAMESPACE=eduard/blue ros2 launch ~/workspace/ros2_ws/src/navigation/launch/localization.launch.py

Save the current map to a file

ros2 service call /eduard/blue/slam_toolbox/save_map slam_toolbox/srv/SaveMap "name: data: '/home/user/workspace/maps/simulation_maze/map'"

Run the localization with a known map

EDU_ROBOT_NAMESPACE=eduard/blue MAP_FILE=/home/user/workspace/maps/simulation_maze/map.yaml ros2 launch ~/workspace/ros2_ws/src/navigation/launch/localization.launch.py use_sim_time:=True

Run the navigation. Works best with a known map.

EDU_ROBOT_NAMESPACE=eduard/blue ros2 launch ~/workspace/ros2_ws/src/navigation/launch/navigation.launch.py use_sim_time:=True