ros2_run.md

Only tested on Ubuntu AMD64/x86.

This example is from JMU-ROBOTICS-VIVA/rocketbot.
Allow the root user to access the running X server

xhost +local:root

Pull the prebuild docker image. (Fornon-Nvidia GPU)

docker run -it \
    --rm \
    --name rclpy_bot \
    --privileged \
    --net=host \
    --env=DISPLAY \
    --env=QT_X11_NO_MITSHM=1 \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    ntklab/rclpy_bot \
    /bin/bash

For the Nvidia GPU, use the following command instead.

docker run -it \
    --rm \
    --gpus all \
    --name rclpy_bot \
    --privileged \
    --net=host \
    --env=DISPLAY \
    --env=QT_X11_NO_MITSHM=1 \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    ntklab/rclpy_bot \
    /bin/bash

Start rviz2. If it opens successfully, you can close it and move on to the next rocket example.

source /opt/ros/foxy/setup.sh
rviz2

Run the rocket example. You should see a standing rocket.

source /opt/ros/foxy/setup.sh
python3 /rocketbot/rocketbot/rocketbot_node.py

Open another terminal, then enter the new session.

docker exec -ti rclpy_bot bash

Create thrust_rv_ctr.py, then paste the following example.

vim /thrust_rv_ctr.py

import rclpy
import time
from rclpy.node import Node
from random import random
from geometry_msgs.msg import Vector3

rclpy.init()
node = Node('thrust_ctr')
thrust_pub = node.create_publisher(Vector3, 'thrust', 10)

thrust_msg = Vector3()

while True:
    thrust_msg.x = random() * 25
    thrust_msg.y = random() * 25
    thrust_msg.z = random() * 25
    thrust_pub.publish(thrust_msg)
    time.sleep(0.5)

Run the example. You will see the rocket flying randomly.

source /opt/ros/foxy/setup.sh
python3 /thrust_rv_ctr.py

sk413025/ros2_run.md

Only tested on Ubuntu AMD64/x86.