Build and bring up the Task Manager Docker container by running in the repository root:
docker compose -f docker/task_manager/docker-compose.yaml up --build
Launch a new terminal and exec into Docker container with docker exec -it task_manager bash before each of the following commands:
Launch Task Manager
ros2 launch task_manager task_manager.launch.py
Run active tasks tracker
python3 examples/track_active_tasks.py
Launch a task or a mission
python3 examples/send_task_request.py
python3 examples/send_mission_request.py
Provides an example on how a blocking task "spin" cancels an already running blocking task "navigate_to_pose". Demonstrates also the Mission feature, by combining multiple navigate_to_pose and spin tasks.
- Launch a Docker container to start Gazebo simulation and Nav2 on Turtlebot by running in the repository root:
docker compose -f docker/nav2_example/docker-compose.yaml up --build
- Your first simulation launch most likely takes a long time, around 1-5 minutes due to slow Gazebo startup. Gazebo files are automatically cached so any subsequent container starts should be fast. Robot spawning might crash on the first time due to this slow start, but a restart will fix the issue
- Give a pose estimate for the Turtlebot in Rviz
- Run navigation example in the Task Manager container
docker exec -it task_manager_nav2_example bash
python3 /examples/nav2_example.py