Docker System Setup

Instructions to install the latest version of the SubT Virtual Simulator hosted at Docker Hub.

Prerequisites: Install Docker

Note: It's recommended to remove previous SubT images before installing the latest release.

     docker images | grep subt_sim_entry
     docker rmi -f [IMAGE_ID]

1. Terminal 1: Run the Virtual Testbed image

    mkdir -p ~/subt_testbed && cd ~/subt_testbed
   
    wget https://raw.githubusercontent.com/osrf/subt/master/docker/run.bash
   
    chmod +x run.bash
   
    ./run.bash osrf/subt-virtual-testbed competition.ign worldName:=tunnel_circuit_practice_01 circuit:=tunnel robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1
   

2. Terminal 2: Launch the teleop file

    # The docker ps command shows running containers, select & copy the CONTAINER ID for the subt-virtual-testbed image
    docker ps
   
    # Create a new Bash session in the container using the CONTAINER_ID from above
    docker exec -it [CONTAINER_ID] /bin/bash
   
    # Test using the joystick
    roslaunch subt_example teleop.launch
   

See also:

Team Configuration to understand how to choose the robots in your team and Custom Controller for a basic example of a controller that can be used as a starting point for your solution.