From 5c0f884d2e1a4559147fc270870717a8411fdae1 Mon Sep 17 00:00:00 2001 From: Pratheesh Prakash Date: Fri, 18 Apr 2025 11:06:52 +0200 Subject: [PATCH 1/9] added model location and steps to run docker with gazebo models Signed-off-by: Pratheesh Prakash --- README.md | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index a3f56db..c182f67 100644 --- a/README.md +++ b/README.md @@ -151,11 +151,24 @@ docker pull ghcr.io/open-rmf/rmf/rmf_demos:latest docker tag ghcr.io/open-rmf/rmf/rmf_demos:latest rmf:latest ``` +If you do not have the models already then download the models locally to your Host system from + +[Gazebo Sim Dashboard](https://app.gazebosim.org/dashboard) + Run it! +Replace /Location/To/Your/Models - With your actual location +Alternatively, you can use the `docker cp` command to copy the folder into the Docker container. For more information on how to use the `docker cp` command, refer to the [Docker documentation](https://docs.docker.com/engine/reference/commandline/cp/). +If you do not have the models already then download the models locally to your Host system from + +[Gazebo Sim Dashboard](https://app.gazebosim.org/dashboard) + +Run it +Replace /Location/To/Your/Models - With your actual location +Alternatively, you can use the `docker cp` command to copy the folder into the Docker container. For more information on how to use the `docker cp` command, refer to the [Docker documentation](https://docs.docker.com/engine/reference/commandline/cp/). ```bash -docker run -it --network host rmf:latest bash -c "export ROS_DOMAIN_ID=9; ros2 launch rmf_demos_gz office.launch.xml headless:=1" +docker run -v /Location/To/Your/Models/OpenRobotics:/root/.gazebo/models -it --network host rmf:latest bash -c "export ROS_DOMAIN_ID=9; ros2 launch rmf_demos_gz office.launch.xml headless:=1" ``` This will run `rmf_demos` in headless mode. From d8ccacf55a8ee21f26f7307f0dd2c317968a0f41 Mon Sep 17 00:00:00 2001 From: Pratheesh Prakash Date: Mon, 21 Apr 2025 08:51:20 +0200 Subject: [PATCH 2/9] Addressed comment from review --- README.md | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index c182f67..d3fd13c 100644 --- a/README.md +++ b/README.md @@ -151,18 +151,27 @@ docker pull ghcr.io/open-rmf/rmf/rmf_demos:latest docker tag ghcr.io/open-rmf/rmf/rmf_demos:latest rmf:latest ``` +Run it! + +```bash + +docker run -it --network host rmf:latest bash -c "export ROS_DOMAIN_ID=9; ros2 launch rmf_demos_gz office.launch.xml headless:=1" +``` + +This will run `rmf_demos` in headless mode. + + If you do not have the models already then download the models locally to your Host system from [Gazebo Sim Dashboard](https://app.gazebosim.org/dashboard) -Run it! Replace /Location/To/Your/Models - With your actual location Alternatively, you can use the `docker cp` command to copy the folder into the Docker container. For more information on how to use the `docker cp` command, refer to the [Docker documentation](https://docs.docker.com/engine/reference/commandline/cp/). If you do not have the models already then download the models locally to your Host system from [Gazebo Sim Dashboard](https://app.gazebosim.org/dashboard) -Run it +Run this Replace /Location/To/Your/Models - With your actual location Alternatively, you can use the `docker cp` command to copy the folder into the Docker container. For more information on how to use the `docker cp` command, refer to the [Docker documentation](https://docs.docker.com/engine/reference/commandline/cp/). @@ -171,8 +180,6 @@ Alternatively, you can use the `docker cp` command to copy the folder into the D docker run -v /Location/To/Your/Models/OpenRobotics:/root/.gazebo/models -it --network host rmf:latest bash -c "export ROS_DOMAIN_ID=9; ros2 launch rmf_demos_gz office.launch.xml headless:=1" ``` -This will run `rmf_demos` in headless mode. - (Experimental) User can also run `rmf_demos` in “non-headless” graphical form, via [rocker](https://github.com/osrf/rocker). ## Run RMF Demos From 242fef7275e56d0e561bb4ee66c0fb6e31a03a2d Mon Sep 17 00:00:00 2001 From: Pratheesh Prakash Date: Mon, 21 Apr 2025 08:51:20 +0200 Subject: [PATCH 3/9] Addressed comment from review Signed-off-by: Pratheesh Prakash --- README.md | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index c182f67..d3fd13c 100644 --- a/README.md +++ b/README.md @@ -151,18 +151,27 @@ docker pull ghcr.io/open-rmf/rmf/rmf_demos:latest docker tag ghcr.io/open-rmf/rmf/rmf_demos:latest rmf:latest ``` +Run it! + +```bash + +docker run -it --network host rmf:latest bash -c "export ROS_DOMAIN_ID=9; ros2 launch rmf_demos_gz office.launch.xml headless:=1" +``` + +This will run `rmf_demos` in headless mode. + + If you do not have the models already then download the models locally to your Host system from [Gazebo Sim Dashboard](https://app.gazebosim.org/dashboard) -Run it! Replace /Location/To/Your/Models - With your actual location Alternatively, you can use the `docker cp` command to copy the folder into the Docker container. For more information on how to use the `docker cp` command, refer to the [Docker documentation](https://docs.docker.com/engine/reference/commandline/cp/). If you do not have the models already then download the models locally to your Host system from [Gazebo Sim Dashboard](https://app.gazebosim.org/dashboard) -Run it +Run this Replace /Location/To/Your/Models - With your actual location Alternatively, you can use the `docker cp` command to copy the folder into the Docker container. For more information on how to use the `docker cp` command, refer to the [Docker documentation](https://docs.docker.com/engine/reference/commandline/cp/). @@ -171,8 +180,6 @@ Alternatively, you can use the `docker cp` command to copy the folder into the D docker run -v /Location/To/Your/Models/OpenRobotics:/root/.gazebo/models -it --network host rmf:latest bash -c "export ROS_DOMAIN_ID=9; ros2 launch rmf_demos_gz office.launch.xml headless:=1" ``` -This will run `rmf_demos` in headless mode. - (Experimental) User can also run `rmf_demos` in “non-headless” graphical form, via [rocker](https://github.com/osrf/rocker). ## Run RMF Demos From 06c74bbda220b413b742bf2548d2d487f15c6cc8 Mon Sep 17 00:00:00 2001 From: Pratheesh Prakash Date: Wed, 23 Apr 2025 08:35:27 +0200 Subject: [PATCH 4/9] Fix typo duplicate in README Signed-off-by: Pratheesh Prakash --- README.md | 7 ------- 1 file changed, 7 deletions(-) diff --git a/README.md b/README.md index d3fd13c..99fbfc0 100644 --- a/README.md +++ b/README.md @@ -160,13 +160,6 @@ docker run -it --network host rmf:latest bash -c "export ROS_DOMAIN_ID=9; ros2 l This will run `rmf_demos` in headless mode. - -If you do not have the models already then download the models locally to your Host system from - -[Gazebo Sim Dashboard](https://app.gazebosim.org/dashboard) - -Replace /Location/To/Your/Models - With your actual location -Alternatively, you can use the `docker cp` command to copy the folder into the Docker container. For more information on how to use the `docker cp` command, refer to the [Docker documentation](https://docs.docker.com/engine/reference/commandline/cp/). If you do not have the models already then download the models locally to your Host system from [Gazebo Sim Dashboard](https://app.gazebosim.org/dashboard) From b8826f38711f6429b22ccf5f125f3cd9be32914e Mon Sep 17 00:00:00 2001 From: Pratheesh Prakash Date: Wed, 23 Apr 2025 09:53:53 +0200 Subject: [PATCH 5/9] Minor readme changes --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 99fbfc0..72e36e8 100644 --- a/README.md +++ b/README.md @@ -165,8 +165,8 @@ If you do not have the models already then download the models locally to your H [Gazebo Sim Dashboard](https://app.gazebosim.org/dashboard) Run this -Replace /Location/To/Your/Models - With your actual location -Alternatively, you can use the `docker cp` command to copy the folder into the Docker container. For more information on how to use the `docker cp` command, refer to the [Docker documentation](https://docs.docker.com/engine/reference/commandline/cp/). +Replace /Location/To/Your/Models - With your actual location. +Alternatively, you can use the `docker cp` command to copy the folder permanently into the Docker container instead of just mounting it temporarily using `-v`. For more information on how to use the `docker cp` command, refer to the [Docker documentation](https://docs.docker.com/engine/reference/commandline/cp/). ```bash From feea5c90245bb7767b662f7b999f00001535f8bb Mon Sep 17 00:00:00 2001 From: Pratheesh Prakash Date: Fri, 18 Apr 2025 11:06:52 +0200 Subject: [PATCH 6/9] added model location and steps to run docker with gazebo models Signed-off-by: Pratheesh Prakash --- README.md | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index a3f56db..c182f67 100644 --- a/README.md +++ b/README.md @@ -151,11 +151,24 @@ docker pull ghcr.io/open-rmf/rmf/rmf_demos:latest docker tag ghcr.io/open-rmf/rmf/rmf_demos:latest rmf:latest ``` +If you do not have the models already then download the models locally to your Host system from + +[Gazebo Sim Dashboard](https://app.gazebosim.org/dashboard) + Run it! +Replace /Location/To/Your/Models - With your actual location +Alternatively, you can use the `docker cp` command to copy the folder into the Docker container. For more information on how to use the `docker cp` command, refer to the [Docker documentation](https://docs.docker.com/engine/reference/commandline/cp/). +If you do not have the models already then download the models locally to your Host system from + +[Gazebo Sim Dashboard](https://app.gazebosim.org/dashboard) + +Run it +Replace /Location/To/Your/Models - With your actual location +Alternatively, you can use the `docker cp` command to copy the folder into the Docker container. For more information on how to use the `docker cp` command, refer to the [Docker documentation](https://docs.docker.com/engine/reference/commandline/cp/). ```bash -docker run -it --network host rmf:latest bash -c "export ROS_DOMAIN_ID=9; ros2 launch rmf_demos_gz office.launch.xml headless:=1" +docker run -v /Location/To/Your/Models/OpenRobotics:/root/.gazebo/models -it --network host rmf:latest bash -c "export ROS_DOMAIN_ID=9; ros2 launch rmf_demos_gz office.launch.xml headless:=1" ``` This will run `rmf_demos` in headless mode. From a5fec87b3f4091ce0ae7c08ae12d74abb4c68a46 Mon Sep 17 00:00:00 2001 From: Pratheesh Prakash Date: Mon, 21 Apr 2025 08:51:20 +0200 Subject: [PATCH 7/9] Addressed comment from review Signed-off-by: Pratheesh Prakash --- README.md | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index c182f67..d3fd13c 100644 --- a/README.md +++ b/README.md @@ -151,18 +151,27 @@ docker pull ghcr.io/open-rmf/rmf/rmf_demos:latest docker tag ghcr.io/open-rmf/rmf/rmf_demos:latest rmf:latest ``` +Run it! + +```bash + +docker run -it --network host rmf:latest bash -c "export ROS_DOMAIN_ID=9; ros2 launch rmf_demos_gz office.launch.xml headless:=1" +``` + +This will run `rmf_demos` in headless mode. + + If you do not have the models already then download the models locally to your Host system from [Gazebo Sim Dashboard](https://app.gazebosim.org/dashboard) -Run it! Replace /Location/To/Your/Models - With your actual location Alternatively, you can use the `docker cp` command to copy the folder into the Docker container. For more information on how to use the `docker cp` command, refer to the [Docker documentation](https://docs.docker.com/engine/reference/commandline/cp/). If you do not have the models already then download the models locally to your Host system from [Gazebo Sim Dashboard](https://app.gazebosim.org/dashboard) -Run it +Run this Replace /Location/To/Your/Models - With your actual location Alternatively, you can use the `docker cp` command to copy the folder into the Docker container. For more information on how to use the `docker cp` command, refer to the [Docker documentation](https://docs.docker.com/engine/reference/commandline/cp/). @@ -171,8 +180,6 @@ Alternatively, you can use the `docker cp` command to copy the folder into the D docker run -v /Location/To/Your/Models/OpenRobotics:/root/.gazebo/models -it --network host rmf:latest bash -c "export ROS_DOMAIN_ID=9; ros2 launch rmf_demos_gz office.launch.xml headless:=1" ``` -This will run `rmf_demos` in headless mode. - (Experimental) User can also run `rmf_demos` in “non-headless” graphical form, via [rocker](https://github.com/osrf/rocker). ## Run RMF Demos From 1331d36c67ea15d987671b1fef46d0162ab380b3 Mon Sep 17 00:00:00 2001 From: Pratheesh Prakash Date: Wed, 23 Apr 2025 08:35:27 +0200 Subject: [PATCH 8/9] Fix typo duplicate in README Signed-off-by: Pratheesh Prakash --- README.md | 7 ------- 1 file changed, 7 deletions(-) diff --git a/README.md b/README.md index d3fd13c..99fbfc0 100644 --- a/README.md +++ b/README.md @@ -160,13 +160,6 @@ docker run -it --network host rmf:latest bash -c "export ROS_DOMAIN_ID=9; ros2 l This will run `rmf_demos` in headless mode. - -If you do not have the models already then download the models locally to your Host system from - -[Gazebo Sim Dashboard](https://app.gazebosim.org/dashboard) - -Replace /Location/To/Your/Models - With your actual location -Alternatively, you can use the `docker cp` command to copy the folder into the Docker container. For more information on how to use the `docker cp` command, refer to the [Docker documentation](https://docs.docker.com/engine/reference/commandline/cp/). If you do not have the models already then download the models locally to your Host system from [Gazebo Sim Dashboard](https://app.gazebosim.org/dashboard) From 56d727a0c93167d6bf8d4913ade29f9b07c337df Mon Sep 17 00:00:00 2001 From: Pratheesh Prakash Date: Wed, 23 Apr 2025 09:53:53 +0200 Subject: [PATCH 9/9] Minor readme changes Signed-off-by: Pratheesh Prakash --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 99fbfc0..72e36e8 100644 --- a/README.md +++ b/README.md @@ -165,8 +165,8 @@ If you do not have the models already then download the models locally to your H [Gazebo Sim Dashboard](https://app.gazebosim.org/dashboard) Run this -Replace /Location/To/Your/Models - With your actual location -Alternatively, you can use the `docker cp` command to copy the folder into the Docker container. For more information on how to use the `docker cp` command, refer to the [Docker documentation](https://docs.docker.com/engine/reference/commandline/cp/). +Replace /Location/To/Your/Models - With your actual location. +Alternatively, you can use the `docker cp` command to copy the folder permanently into the Docker container instead of just mounting it temporarily using `-v`. For more information on how to use the `docker cp` command, refer to the [Docker documentation](https://docs.docker.com/engine/reference/commandline/cp/). ```bash