README.md

Multiverse-Docker

This repository demonstrates the robotics task execution in Docker environment. For more details please visit Multiverse-Framework, Multiverse-Parser and Multiverse-Knowledge.

Prerequisites https://docs.docker.com/desktop/install/ubuntu/

Check your docker-compose and docker-py versions:

$ docker -v
Docker version 24.0.5, build ced0996
$ docker compose version
Docker Compose version v2.20.2

1. Setup the docker

sudo ./setup_nvidia_docker.bash
./setup_images.bash
docker compose pull

2. Run the cluster

Open 6 terminals, each runs one command below

docker compose up ros-core-service
docker compose up multiverse-server-service
docker compose up multiverse-client-mujoco-service
docker compose up multiverse-client-ros-service
docker compose up giskard-service
./run_rviz.bash

3. Run the demo (either demo_1 or demo_2)

Open a new terminal and go into the docker container giskard-container

docker exec -it giskard-container bash

Run either

source /home/Multiverse/giskard_ws/devel/setup.bash && rosrun tiago_dual_in_apartment box_unpacking.py --spawn_object=milk_box 

or

source /home/Multiverse/giskard_ws/devel/setup.bash && rosrun tiago_dual_in_apartment box_unpacking.py --spawn_object=spoon 

The result should look like this:

4. Connect to docker container via ROS

export ROS_MASTER_URI=http://192.168.75.2:11311
export ROS_IP=$(hostname -I | awk '{print $1}') #your IP
rostopic list # It will show all ROS topic in the docker environment