containers.md

Containers and Usage

This repo uses following containers

• Turtlebot4-workspace

  • link ghcr.io/collaborativeroboticslab/turtlebot4-workspace:jazzy
  • Provides a web browser based workspace that can be used to test code on both simulation and physical robots. Contains ROS2 Jazzy Desktop with GUI tools for debugging. Use this to do development work

• Algorithmic-Robots-Mars-Surface

  • link ghcr.io/collaborativeroboticslab/algorithmic-robots-mars-surface:jazzy
  • Provides the Unreal based simulation environment to work with when Physical robots are inaccessible.

• Algorithmic-Robots-Labs

  • link ghcr.io/collaborativeroboticslab/algorithmic-robots-labs:latest
  • Provides a Jupyter notebooks based workspace to explore mathematical concepts surrounding robotics

Simulation System

This system can be started with compose-simulation.yaml file. This starts a simulation environment and a browser based vs-code environment for experiments using following containers

• Algorithmic-Robots-Mars-Surface container
• Turtlebot4-workspace container

Update the following environment variables to isolate the ROS environment

SIM_ROS_DOMAIN_ID=0

Use the following commands to start the system

cd algorithmic-robots-world
docker compose -f compose-simulation.yaml pull
xhost +local:root
docker compose -f compose-simulation.yaml up

Start Physical robot environment

This system can be started with compose-physical.yaml file. This starts a browser based vs-code environment for experiments and connects with the Discovery server in the Turtlebot4 robot. It uses following containers

• Turtlebot4-workspace container

Update the following environment variables to isolate the ROS environment

ROBOT_ROS_DOMAIN_ID=0
ROBOT_ROS_DISCOVERY_SERVER=10.42.0.1:11811

Use the following commands to start the system.

cd algorithmic-robots-world
docker compose -f compose-physical.yaml pull
xhost +local:root
docker compose -f compose-physical.yaml up

Start Algorithmic Robotics Labs

This system can be started with compose-jupyter.yaml file. This starts a browser based jupyter environment for tutorial activities. It uses following container

• Algorithmic-Robots-Labs container

cd algorithmic-robots-world
docker compose -f compose-jupyter.yaml pull
xhost +local:root
docker compose -f compose-jupyter.yaml up