opensot_docker

A DockerFile based on ROS2 jazzy-desktop to run the OpenSoT framework.

Bootstrap:

Run the script ./bootstrap.sh in the opensot_docker folder. This will clone the OpenSoT repository 4.0-devel_ros2 branch,

Build the DockerFile:

Run docker build -t opensot_ros2 . in the opensot_docker folder.

Run the docker image:

Run the script ./run_docker.sh in the opensot_docker folder.

Inside the image terminal run terminator to open a new terminal. You can split this terminal horizontally using the shortcut Ctrl + Shift + o or in vertical using Ctrl + Shift + e.

Compile OpenSoT:

Inside /home/forest_ws/code run:

mkdir build

then, inside the build folder:

cmake -DCMAKE_INSTALL_PREFIX:STRING=/home/forest_ws/install -DCMAKE_BUILD_TYPE:STRING=Release ../OpenSoT && make -j8 && make install

Run Python Examples:

The Python examples can be found in /home/forest_ws/src/OpenSoT/bindings/python/examples.

For the ID example using the Little Dog robot runs:

python LittleDog_id.py