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Created August 27, 2018 13:13
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Raw
README.md

Pre-workshop: Introduction to compas_fab

Windows users: the only Windows version that supports many of the requirements is Windows 10, making it a pre-requisite for everything else.

Requirements

Getting started

  • Start the X11 server (e.g. XMing on Windows)

  • Make sure docker is running

  • Download the docker-compose.yml file to your disk

  • Open the command line, change to the folder where you downloaded the file and run:

      docker-compose up -d

  • ROS will start up, including MoveIt!'s graphical interface.

Notes

Raw
docker-compose.yml
version: '3'
services:
ros-master:
image: gramaziokohler/ros-base
container_name: ros-master
ports:
- "11311:11311"
command:
- roscore
ros-bridge:
image: gramaziokohler/ros-base
container_name: ros-bridge
environment:
- "ROS_HOSTNAME=ros-bridge"
- "ROS_MASTER_URI=http://ros-master:11311"
ports:
- "9090:9090"
depends_on:
- ros-master
command:
- roslaunch
- --wait
- rosbridge_server
- rosbridge_websocket.launch
ros-fileserver:
image: gramaziokohler/ros-base
container_name: ros-fileserver
environment:
- "ROS_HOSTNAME=ros-fileserver"
- "ROS_MASTER_URI=http://ros-master:11311"
depends_on:
- ros-master
command:
- roslaunch
- --wait
- file_server
- file_server.launch
ros-moveit-base:
image: gramaziokohler/ros-moveit-base
container_name: ros-moveit-base
environment:
- "DISPLAY=docker.for.win.localhost:0.0"
# - "DISPLAY=docker.for.mac.localhost:0.0" (swap this with the previous line if on Mac)
- "ROS_HOSTNAME=ros-moveit-base"
- "ROS_MASTER_URI=http://ros-master:11311"
depends_on:
- ros-master
command:
- roslaunch
- --wait
- panda_moveit_config
- demo.launch
- rviz_tutorial:=true
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