- Terminal 1
singularity shell -B /run/user/1000,/var/lib/dbus/machine-id --nv env/sandbox_sigverse/
source /entrypoint.sh
source devel/setup.bash
roslaunch tamhome_hsrb_utils sigverse_rosbridge_server.launch-
Unityを起動
-
Terminal 2
singularity shell -B /run/user/1000,/var/lib/dbus/machine-id --nv env/sandbox_sigverse/
source /entrypoint.sh
source devel/setup.bash
roslaunch sigverse_hsrb_utils bringup.launch- Terminal 3
- langsamのDocker化が終わるまではローカルで動作させる
source devel/setup.bash
roslaunch tam_object_detection hsr_head_rgbd_lang_sam_service.launch- Terminal 4
- Terminal 3のコマンドにて，langsamサーバを起動させてから実行する
- 最後のコマンドに
wait_to_ready:=falseが含まれていないことを確認
singularity shell -B /run/user/1000,/var/lib/dbus/machine-id --nv env/sandbox_sigverse/
source /entrypoint.sh
source devel/setup.bash
roslaunch tamhome_handyman handyman.launch