aalbaali / vention_example

Setup instructions

The package is targeted for ROS Noetic. A Dockerfile is provided that has ROS Noetic installed. The Docker image setup is provided below. For directly installing the package, you can skip to the package installation section

Docker

To build the Docker image, run

docker build . -f Dockerfile --target dev -t noetic-vention:dev

To start the container, change directory into the package directory, and run the following

docker run -it -e DISPLAY=$DISPLAY -e DOCKER_REPO_TAG="noetic-vention:dev" -v $PWD:/home/ros/ros_ws/src/vention_example -v /tmp/.X11-unix:/tmp/.X11-unix -v ~/.ssh:/home/ros/.ssh --network host --hostname noetic --name noetic-vention noetic-vention:dev

Creating a catkin workspace

This step is not necessary for the Noetic container

sudo apt-get update
sudo apt-get install -y \
  python3-catkin-tools
cd ~/ros_ws
catkin init

Building the package

Installing dependencies

Assuming the packages are already cloned into ~/ros_ws/src, then the dependencies can be installed using

cd ~/ros_ws/
rosdep update
rosdep install -i --from-path /home/ros/ros_ws/src --rosdistro noetic -y

Note that this step may take sometime.

Building the package

# Build package
catkin build

Running the example

# Source and run package
source devel/setup.bash
roslaunch vention_example pick_and_place_demo.launch

Demo

A video demo is provided: