dave with Docker

The dave repository includes scripts for creating a Docker container that can be used to develop and run the dave simulation software. In this setup, the required functionality is divided between the host and the Docker container as follows:

This approach has the advantage of providing a clean, isolated and consistent runtime environment for running and testing the simulation.

Host setup

On host, clone the source repositories (uuv_simulator, uuv_manipulator, DAVE, etc.) in ~/uuv_ws/src. Add link here to setup instructions. .

The docker container will mount the source directory: ~/uuv_ws/src

Build docker container

This will take a bit

cd ~/uuv_ws/src/DAVE/docker/uuvsim
./build.bash -n .

Run the container

cd ~/uuv_ws/src/DAVE/docker/uuvsim
./run.bash -n uuvsim_nvidia

Add a few more terminals

cd ~/uuv_ws/src/DAVE/docker/uuvsim
./join.bash uuvsim_nvidia

Catkin build within the docker container

cd ~/uuv_ws
catkin_make
source devel/setup.bash

Run a test

E.g.,

roslaunch uuv_dave uuv_dave.launch