- Manages workers.
- Synchronises frames (both for incoming raw data as well as the generated scene).
- Handles communication (middleware).
To set-up your development environment with docker build the spekle-core docker image (which is a derivate of ros:lunar-robot) by running docker build --rm -f "dockerenv/Dockerfile" -t spekle-core:latest dockerenv from the spekle-core directory. This will a docker image called spekle-core:latest. You can then run this image with docker compose using docker-compose run --rm spekle-core. This adds some additional components to the docker container including mounting the spekle-core directory and exposing ports to/from the container.
From the host machine, add the local host to the xhost list:
xhost + 127.0.0.1
Now when running the docker conatainer export the display by using the -e option:
docker run -it -e DISPLAY=host.docker.internal:0 -v /tmp/.X11-unix:/tmp/.X11-unix <container:name>
Or if you're already running the container, export the DNS name for host resolution to the DISPLAY environment variable from the command line:
export DISPLAY=host.docker.internal:0
Once you're done using the container, don't forget to remove the localhost from the xhost list! It can leave some security vunerabilities.
- Start an existing container:
docker start <container_name> - Connect to started container:
docker exec -it <container_name> /bin/bash
If you get errors like bash: rqt: command not found make sure you have the ROS_PACKAGE_PATH in your envornment variables:
echo $ROS_PACKAGE_PATH
/opt/ros/lunar/shareIf this is not the case, run source /opt/ros/lunar/setup.bash