Create container image to run all bots in a container #412
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
morxa
force-pushed
the
thofmann/container-image
branch
from
c85479d to
1489119
Compare
morxa
force-pushed
the
thofmann/container-image
branch
from
1489119 to
dedd7c2
Compare
morxa
force-pushed
the
thofmann/container-image
branch
from
dedd7c2 to
f49f47d
Compare
TarikViehmann
previously approved these changes
Jan 19, 2022
This is useful if we start the simulation/refbox separately, e.g., if fawkes runs within a container.
No need to always set the FAWKES_DIR in the environment, we can compute it from the script path by default. Also export FAWKES_DIR so it is available to all child processes.
We may start fawkes without gazebo but still use the move base. Therefore, always run the move base and publish initial poses, even if gazebo is not started.
By default, we always want to use the move-base if we run with ROS support. Provide an option to change the default so the move base is not launched.
For now, this just tails the output of the first robot. There may be better options, but this works for now.
It uses the skiller simulator, no move base needed.
morxa
force-pushed
the
thofmann/container-image
branch
from
f49f47d to
3cbc7ec
Compare
It uses the skiller simulator, no move base needed.
|
Thanks for the review! I needed to rebase to fix some conflicts, PTAL :) |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This runs the gazsim script from within a container such that all three bots run in the same container.
We could discuss splitting this into a container per bot, but that would require additional tools like docker compose or Helm to provide a simply startup. For now, just running everything in a single container should be fine.