DCIST Master

This is the base image used for the DCIST robots at KR, for the Jackals to run ROS2-Jazzy on Ubuntu-24.04

TL;DR:

• It installs the dependencies required by many user packages (see dcist-master/Dockerfile).
• It copies the ws main dcist workspace and builds it.
• It provides helper scripts build.bash, run.bash and join.bash

Architectures

Three architectures are provided:

• kumarrobotics/dcist-master-jazzy-bare - x86_64 CPU: To run in CPU-only platforms, such as the Intel NUC for the high-altitude quads. Based on ubuntu Docker images.
• kumarrobotics/dcist-master-jazzy-nvda - x86_64 CUDA: To run in x86_64 GPU-accelerated platforms, such as the computers on the Jackals. Based on nvidia/cuda Docker images.
• kumarrobotics/dcist-master-jazzy-nvda - arm64 CUDA: To run in Nvidia Jetson platforms.

How to build and use?

git clone https://github.com/KumarRobotics/dcist_master_ros2.git
cd dcist_master_ros2 && git submodule update --init --recursive
./build.bash dcist-master-jazzy x86_64_nvda
./run.bash dcist-master-jazzy-nvda:latest

Notes on image building

• Despite the colcon build command being present in the Dockerfile, it the dcist_ws does not remain built. That being said, if after running the docker container, if you build it inside the docker container it will remain built upon future executions (not sure why)

Notes on how to start up the Jackal

To launch the base hardware (no sensors), use the following commands:

ros2 launch jackal_robot bringup.launch.py
ros2 run twist_stamper twist_stamper --ros-args -r  cmd_vel_in:=/jackal_velocity_controller/cmd_vel_unstamped -r cmd_vel_out:=/jackal_velocity_controller/cmd_vel

Notes on how to start the realsense and ouster

To launch the camera and LIDAR, use the following commands:

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i
ros2 launch ouster_ros sensor.launch.xml sensor_hostname:=192.168.100.12 udp_dest:=192.168.100.1 viz:=false