Starting with RoverAPI¶
Description: This is a guided example on how set up a development environment to use DiscoverCCRI’s RoverAPI
Tutorial Level: Beginner
Next Tutorial: First Script
Contents:
1. Prerequisites¶
This tutorial assumes that you are familiar with DiscoverCCRI’s project. If not, you should familiarize yourself with DiscoverCCRI’s infrastructure and portal. To correctly use the containerized development environment, you will need to have installed docker on a Linux or MacOS device.
2. Setup¶
The DiscoverCCRI rover team has created a containerized development environment allowing for users to easily run and test scripts that utilize our rovers. The development environment contains: ROS, the software suite that make controlling the rovers possible; Gazebo, a 3D robotics simulator; and all required dependencies to make DiscoverCCRI’s RoverAPI work. The development enviroment is deployed in a docker container, and uses noVNC to allow for easy access.
2.1 Installation¶
To install the docker container, simply run:
docker pull cjb873/sim_image
2.2 Run¶
To run the container, use the command
docker run -p 9000:80 -it --name rover_development_container cjb873/sim_image
Then open your browser and go to localhost:9000. You should see the desktop of your container.
After running the container, you can use the following command to stop your container:
docker stop
After creating the container, you just have to use the following command to activate it:
docker start rover_development_container
2.3 Use¶
To use the simulator in the container, run the following command in the terminal:
roslaunch leo_gazebo leo_gazebo
Within gazebo you can place all sorts of objects to create a scenario to test the capabilities of the rover. From here you can develop code just like you normally would in any other situation.
2.4 Continuing On¶
If you are going to be continuing on with the other tutorials, create a directory for all of your tutorial code using the command:
mkdir ~/beginner_tutorials