robotics_spot

Reinforced Spot Mini

Install

Install docker: Install Docker-CE using these instructions

Install nvidia-docker

curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | \
  sudo apt-key add -
distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | \
  sudo tee /etc/apt/sources.list.d/nvidia-docker.list
sudo apt-get update
sudo apt-get install nvidia-docker2
sudo systemctl restart docker

Now we should build Spot container:

Spot:

Init workspace

mkdir -p spot_ws/src
cd spot_ws/src
git clone https://github.com/clearpathrobotics/spot_ros.git
git clone https://github.com/tarasborov/robotics_spot.git

Build docker images

cd robotics_spot/docker/ros_melodic
chmod a+x build.bash
sudo ./build.bash 

Run docker container

chmod a+x run.bash
sudo ./run.bash

Inside docker container

cd /root/ws
rosdep check --from-paths . --ignore-src --rosdistro melodic
catkin config --init --extend /opt/ros/melodic   
catkin build

Use state machine

All following commands should be executed in specified containers:

cd ~/ws/src/robotics_spot/scripts
chmod a+x start.sh
chmod a+x session.yml
./start.sh

Now tmux session will start with all required tabs. All required commandsmay be added to the history, in order to simplify their usage.