mirror of
https://github.com/EECS-467-W20-RRRobot-Project/RRRobot.git
synced 2025-08-13 13:38:33 +00:00
ef26d8ffef
-Removed gravity (temporary, I hope). I was struggling to get inverse dynamics working correctly to provide a torque to compensate for gravity. Eventually, I think we want to have a PID, plus gravity compensation. -Created a demo world with setpoints that the robot heads to. -Arm kinematic representation is working. -PID control of each joint is working to a basic extent. Some segments are more responsive than others. Still to do: -reading in SDF should be more robust, and should support all joint types -better control -obstacle avoidance in arm movement path -control with gravity -arm joint limits, and shortest path to angle (ie considers that theta wraps at 2 pi
41 lines
1.6 KiB
Docker
41 lines
1.6 KiB
Docker
# Gazebo Dockerfile
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# Use official image for Gazebo 9.x
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FROM gazebo:gzserver9
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RUN apt-get update
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# Install packages required for developing with gazebo
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RUN apt-get install -y libgazebo9-dev
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RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
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RUN apt-get install -y curl
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RUN curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | apt-key add -
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RUN apt-get update
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# Install packages required for developing with ROS
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RUN apt-get install -y ros-melodic-desktop-full
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RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
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RUN apt install -y python-rosdep
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RUN rosdep init
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RUN rosdep update
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RUN apt-get install -y ros-melodic-pid
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# user id 1000 should be the same as the host user, so that you can access files
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# from inside the docker container and also on the host
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RUN useradd -u 1000 rrrobot
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# set to no password
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RUN passwd --delete rrrobot
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# add to sudo users
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RUN usermod -aG sudo rrrobot
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# set the entry point
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WORKDIR /home/rrrobot
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RUN chown -R rrrobot:rrrobot /home/rrrobot
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# Initialize the environment in .bashrc
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RUN echo "source /opt/ros/melodic/setup.bash" >> /home/rrrobot/.bashrc
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RUN echo "source /usr/share/gazebo/setup.sh" >> /home/rrrobot/.bashrc
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RUN echo "export GAZEBO_MODEL_PATH=/home/rrrobot/rrrobot_src/src/gazebo_models:\$GAZEBO_MODEL_PATH" >> /home/rrrobot/.bashrc
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RUN echo "export GAZEBO_PLUGIN_PATH=/home/rrrobot/rrrobot_src/lib:\$GAZEBO_PLUGIN_PATH" >> /home/rrrobot/.bashrc
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USER rrrobot
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CMD ["/bin/bash"]
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