Space ROS Demos

This repository provides examples for running robots using Space ROS

Building the Demo Docker

The demos run in the Space ROS Demo docker. Please proceed to this repo, clone and perform the following steps to build the docker image.

Within folder /spaceros, run:

$ ./build-image.sh

Within folder /demo_spaceros, run:

$ ./build-image.sh

Running the Demo Docker

Come back to this repo, run the following to allow GUI passthrough:

$ xhost +local:docker

Then run:

$ ./run_sp.sh

Depends on the host computer, you might need to remove --gpus all flag in run_sp.sh, which uses your GPUs

Running the Demo

Make sure packages are sourced

$ source /root/src/spaceros_ws/install/setup.bash

$ source /root/src/depends_ws/install/setup.bash

Enter the folder /spaceros_demo_ws, run:

$ rm -rf build install log && colcon build && . install/setup.bash

Launch the demo:

$ ros2 launch mars_rover mars_rover.launch.py

On the top left corner, click on the refresh button to show camera feed

Perform Tasks

Curiosity Rover

Open a new terminal and attach to the currently running container

$ docker -it exec <container-name> bash

Make sure packages are sourced

$ source /root/src/spaceros_ws/install/setup.bash

$ source /root/src/depends_ws/install/setup.bash

Explore randomly on the Mars surface:

$ ros2 service call /random_walk std_srvs/srv/Empty 

Open the tool arm:

$ ros2 service call /open_arm std_srvs/srv/Empty 

Close the tool arm:

$ ros2 service call /close_arm std_srvs/srv/Empty