space_robots

Space ROS Space Robots Demo Docker Image

The Space ROS Space Robots Demo docker image uses the moveit2 docker image (openrobotics/moveit2:latest) as its base image. Build instructions for that image can be found in this README. The Dockerfile installs all of the prerequisite system dependencies along with the demos source code, then builds the Space ROS Space Robots Demo.

This is for Curiosity Mars rover and Canadarm demos.

Building the Demo Docker

The demo image builds on top of the spaceros and moveit2 images. To build the docker image, first ensure the spaceros base image is available either by building it locally or pulling it.

Then build the moveit2 and the space_robots demo images:

cd ../moveit2
./build.sh
cd ../space_robots
./build.sh

Running the Demo Docker

run the following to allow GUI passthrough:

xhost +local:docker

Then run:

./run.sh

Depending on the host computer, you might need to remove the --gpus all flag in run.sh, which uses your GPUs.

Running the Demos

Curiosity Mars rover demo

Launch the demo:

ros2 launch mars_rover mars_rover.launch.py

On the top left corner, click on the refresh button to show camera feed.

Perform Tasks

Setup

Open a new terminal and attach to the currently running container:

docker exec -it <container-name> bash

Make sure packages are sourced:

source ${SPACEROS_DIR}/install/setup.bash

source ~/demos_ws/install/setup.bash

Available Commands

Drive the rover forward

ros2 service call /move_forward std_srvs/srv/Empty

Stop the rover

ros2 service call /move_stop std_srvs/srv/Empty

Turn left

ros2 service call /turn_left std_srvs/srv/Empty

Turn right

ros2 service call /turn_right std_srvs/srv/Empty

Open the tool arm:

ros2 service call /open_arm std_srvs/srv/Empty

Close the tool arm:

ros2 service call /close_arm std_srvs/srv/Empty

Open the mast (camera arm)

ros2 service call /mast_open std_srvs/srv/Empty

Close the mast (camera arm)

ros2 service call /mast_close std_srvs/srv/Empty

Canadarm demo

ros2 launch canadarm canadarm.launch.py