README Restructure

- Add table of contents
- Make "Running Containers" a sub-section of "Development Guide"
- Add description of all docker compose services
- Add section for "GUI Support" and explain how to resolve OpenGL issue in WSL

README.md

@@ -1,15 +1,24 @@
-# RRRobot!
+# RRRobot! <!-- omit in toc -->
+
+## Table of Contents <!-- omit in toc -->
+- [Contributors](#contributors)
+- [Documents](#documents)
+- [Introduction](#introduction)
+- [Development Guide](#development-guide)
+  - [Docker Compose Services](#docker-compose-services)
+  - [GUI Support](#gui-support)
+  - [Running Docker Containers](#running-docker-containers)
 
 ## Contributors
 
-### Project Team
+### Project Team <!-- omit in toc -->
 
 - Sravan Balaji ([balajsra@umich.edu](mailto:balajsra@umich.edu))
 - Chenxi Gu ([chenxgu@umich.edu](mailto:chenxgu@umich.edu))
 - Jake Johnson ([thejakej@umich.edu](mailto:thejakej@umich.edu))
 - Derek Witcpalek ([dwitcpa@umich.edu](mailto:dwitcpa@umich.edu))
 
-### EECS 467 W20 Course Staff
+### EECS 467 W20 Course Staff <!-- omit in toc -->
 
 - Prof. Chad Jenkins ([ocj@umich.edu](mailto:ocj@umich.edu))
 - Xiaotong Chen ([cxt@umich.edu](mailto:cxt@umich.edu))
@@ -26,11 +35,57 @@ Repository for UMICH EECS 467: Autonomous Robotics (W20) RRRobot! project.
 
 To get started, you will need to install Docker on your system. Information on what Docker is, how to install it, and how to use it can be found in [Getting Started with Docker](https://sravanbalaji.com/Web%20Pages/blog_docker.html).
 
-## Running Containers
+## Development Guide
 
-**NOTE:** If using VcXsrv for Windows to enable GUI applications, run XLaunch using [config.xlaunch](utils/config.xlaunch).
+At this point, you should have Docker Desktop, Toolbox, or Engine setup on your host system. In this section, you will find a list of the different docker-compose services available and how to run them.
 
-**NOTE:** To enable X forwarding, be sure to update the `IP_ADDRESS` variable in [.env](src/.env) with your computer's IP Address.
+### Docker Compose Services
+
+#### ros-dev <!-- omit in toc -->
+
+ros-dev is the development container for ROS. This is used to provide all the necessary dependencies for working through the ROS tutorials and creating ROS packages.
+
+#### ros-turtlesim <!-- omit in toc -->
+
+ros-turtlesim is a container that tests whether GUI support is working. This will install the ros tutorial packages and run the turtlesim GUI with keyboard control. If X forwarding is setup correctly, you should see a window open up with a turtle on a blue background. Use the arrow keys in the container terminal to move it around and press `q` to quit.
+
+#### ros <!-- omit in toc -->
+
+ros is the production container for all ROS nodes we create. This is meant to run our final code and interface with the gazebo container for simulation.
+
+#### gazebo <!-- omit in toc -->
+
+Similarly to ros, gazebo is the production container for gazebo. This is meant to run our final simulation.
+
+### GUI Support
+
+If using VcXsrv for Windows to enable GUI applications, run XLaunch using [config.xlaunch](utils/config.xlaunch). This will enable the following settings:
+
+- Display Settings
+  - Multiple Windows
+  - Display Number: -1
+- Client Startup
+  - Start No Client
+- Extra Settings
+  - [x] Clipboard
+    - [x] Primary Selection
+  - [ ] Native OpenGL
+  - [x] Disable Access Control
+
+The main thing to note here is that `Native OpenGL` is disabled and `Disable Access Control` is enabled. When running Gazebo GUI applications through a Docker Container in WSL, enabling `Native OpenGL` resulted in the following errors:
+
+```
+libGL error: No matching fbConfigs or visuals found
+libGL error: failed to load driver: swrast
+libGL error: No matching fbConfigs or visuals found
+libGL error: failed to load driver: swrast
+```
+
+As mentioned in [No libGL libraries when running Gazebo from ROS](https://github.com/microsoft/WSL/issues/3644#issuecomment-434556680), this can be resolved by disabling `No native OpenGL` in the VcXsrv configuration.
+
+Additionally, be sure to update the `IP_ADDRESS` variable in [.env](src/.env) with your computer's IP Address to enable X forwarding.
+
+### Running Docker Containers
 
 1. Start Docker Machine (default)
     - WSL: `docker-machine.exe start default`
@@ -40,5 +95,5 @@ To get started, you will need to install Docker on your system. Information on w
     - Other: `docker-machine env`
 3. Navigate to src folder
     - `cd /PATH/TO/rrrobot/src`
-4. Use Docker Compose to run a service (refer to [docker-compose.yml](src/docker-compose.yml) for a list of services)
+4. Use Docker Compose to run a service (refer to [docker-compose.yml](src/docker-compose.yml) or [Docker Compose Services](#docker-compose-services))
    - `docker-compose run --rm <service_name>`