Running BARN Project with Docker

This project runs the BARN project with Docker on Linux/Mac/Windows. The GUI (gazebo) requires a Windows with NVIDA. The GUI will not work on Linux/Mac, but the project files will still run.

Prerequisites

1. Docker Desktop
2. VCXSRV: https://sourceforge.net/projects/vcxsrv/ (For Gui, Windows ONLY)
3. NVIDA

Starting Project

Copy Project to Folder

Project
  |___Dockerfile
  |___README.md

Build

docker build -t barn_ros_noetic .

Run

docker run -it barn_ros_noetic

Entering Docker Container Shell

WINDOWS: Run Docker with Display and Enter Container Shell

docker run -it -e DISPLAY=host.docker.internal:0.0 barn_ros_noetic /bin/bash

[OR]

MAC: Run Docker with Display / Enter Container Shell

1A: Start xhost (Need xQuartz/x11)

xhost + 127.0.0.1

2A: Enter docker container with xQuartz + LibGL

docker run -it \
-e DISPLAY=host.docker.internal:0.0 \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-v /usr/lib/x86_64-linux-gnu/libGL.so.1:/usr/lib/x86_64-linux-gnu/libGL.so.1 \
barn_ros_noetic \
/bin/bash

[OR]

1B: Enter docker container

docker run -it \
-e DISPLAY=host.docker.internal:0 \
barn_ros_noetic \
/bin/bash

[OR]

1C: Start xhost (Need xQuartz/x11)

xhost + 127.0.0.1

2C: 1Enter docker container with xQuartz

docker run -it \
-e DISPLAY=$DISPLAY \
-v /tmp/.X11-unix:/tmp/.X11-unix \
barn_ros_noetic \
/bin/bash

Edit Project

Once inside docker container shell, you can start editing the jackal workspace. Parameters for Move Base: https://github.com/Daffan/nav-competition-icra2022/tree/main/jackal_helper/configs/params

Goto Parameter Folder (pwd: jackal_ws/)

cd src/nav-competition-icra2022/jackal_helper/configs/params/

Install nano, if you haven't already

sudo apt install nano

Edit File

sudo nano [filename].yaml

Replicating Team Results

Adjust base_local_planner_params.yaml (pwd: jackal_ws/)

src/nav-competition-icra2022/jackal_helper/configs/params/base_local_planner_params.yaml

Our Team Simulations to replicate results, use this file: https://github.com/Katazui/ROS_Barn_Docker/blob/main/params/base_local_planner_params.yaml

TrajectoryPlannerROS:

  # Robot Configuration Parameters
  acc_lim_x: 10.0
  acc_lim_theta:  20.0

  max_vel_x: 5.37
  min_vel_x: 0.1

  max_vel_theta: 3.57
  min_vel_theta: -3.57
  min_in_place_vel_theta: 0.314

  holonomic_robot: false
  escape_vel: -1.0

Our team results

• Vanilla Jackal Results: https://youtu.be/09wVBX-gjHk
• Adjusted Jackal Results: https://youtu.be/umRLDLUrH78

    Vanilla Jackal: ~ 55 seconds
    Adjusted Jackal: ~14 seconds

Run Simulation

Setup Source (pwd: jackal_ws/)

source devel/setup.bash

Goto Simulation Folder

cd src/nav-competition-icra2022/

Run Simulation

python3 run.py --world_idx [number] --gui

Thank you!