Setup

Use docker

Available images

Docker images with latest code are available on the Docker public registry:

Get any by running:

docker pull minipada/ros2_data_collection:<TAG>

Docker workflow

When developing, use the source-sim image with a docker compose file. The latest one is available on the repository:

version: "3.9"

services:
  ros2-data-collection:
    image: minipada/ros2_data_collection:humble-source-sim
    privileged: true
    container_name: ros2-data-collection
    environment:
      - QT_X11_NO_MITSHM=1
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=compute,utility,display
      - DISPLAY=unix$DISPLAY
      - XAUTHORITY=$XAUTHORITY
    volumes:
      - ${HOME}/.Xauthority:/root/.Xauthority
      - /tmp/.X11-unix:/tmp/.X11-unix
      - /var/run/docker.sock:/var/run/docker.sock
      - ${PWD}:/root/ws/src/ros2_data_collection
    network_mode: "host"
    restart: "unless-stopped"
    stop_grace_period: "3s"
    runtime: nvidia
    command: tail -F anything
    working_dir: /root/ws

Then, to allow GUI (RViz, Gazebo) to work in the container, execute:

xhost +

Then start the container:

docker compose up -d

And get in the container with:

docker exec -it ros2-data-collection /ros_entrypoint.sh bash

Build from source

Download the repository

Given that there is no apt packages available, you will need to build from source.

Download the repository in your workspace

git clone github.com/minipada/ros2_data_collection.git

Install dependencies

Install system and C/C++ dependencies

rosdep install --from-paths src --ignore-src -r -y

Some packages are external C++ packages but a vendor package has been included in the repository so colcon will handle it. In addition, since this set of packages has no python external dependencies, you won't need anything else.

Install python dependencies

This project uses poetry to manage python dependencies. It is easy to use and it is possible to set each package version like in a requirements.txt and manage multiple python environments. If you have poetry on your machine, you can execute:

poetry install

If not, you can install python dependencies from the provided requirements.txt:

pip3 install -r requirements.txt

Build

colcon build

Run

source install/setup.bash
ros2 launch dc_bringup bringup.launch.py

Issues

If you run into any issues when building ROS 2 Data Collection, you can use the search tool in the issues tab on GitHub and always feel free to open a ticket.