stevendes / docker_test

Dockers: ROS + Webots

Repo with everything necessary to run a docker image with ROS and webots, and demo a working pioneer3 mapping a "warehouse".

Steps to run gmapping in the simulation:

1. Run make webots_docker. Go take a cup of coffee, this takes forever.
2. Run ./run to start Docker. You'll need an NVIDIA graphics card.
3. First terminal:

catkin_make
roscore

4. In the second terminal run webots src/pioneer_slam/worlds/warehouse.wbt
5. Third terminal: rosrun pioneer_slam pioneer3at
6. Fourth terminal:

rosrun gmapping slam_gmapping scan:=/pioneer3at/Sick_LMS_291/laser_scan/layer0 _xmax:=30 _xmin:=-30 _ymax:=30 _ymin:=-30 _delta:=0.2s

7. In the final terminal launch rviz to see the map visualization. You need to manually set up what you want to see in rviz.

End result should look something like this: