Setup

Run Docker Desktop and proceed through the initial installation, then open a terminal, navigate to this repository (e.g. cd ~/environment, change depending on where you clone it), and run the following commands:

cd environment
cd ros2

# if using windows (make sure you run these commands from a WSL shell):
cd windows
# else if using mac:
cd mac
docker compose up -d

# To attach to the container call this in every terminal you want to open:
docker exec -it spot-sim bash

cd ros2_ws
source /opt/ros/humble/setup.bash
source install/setup.bash
sudo apt install -y python3-rosdep
rosdep update
sudo apt update
rosdep install --from-paths src --ignore-src -r -y

# To close the container:
docker compose down;

# To reopen:
docker compose up -d;

The container should look this:

# ROS 2:
hack@spot-sim:~$

Launch

ros2 launch champ_config slam.launch.py rviz:=true sim:=false

ros2 launch champ_config gazebo.launch.py

ros2 launch champ_config navigate.launch.py sim:=true

ros2 run weed_detector weed_detector