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Dev environment for scan control driver testing #34

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Dev environment for scan control driver testing #34

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12 changes: 10 additions & 2 deletions .docker/Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -64,12 +64,19 @@ RUN mkdir /library_pkgs && \
mv "/scanCONTROL-Linux-SDK/libmescan/builddir/mescan_${SCANCONTROL_SDK_VERSION}-1_amd64.deb" /library_pkgs && \
mv "/scanCONTROL-Linux-SDK/libllt/builddir/llt_${SCANCONTROL_SDK_VERSION}-1_amd64.deb" /library_pkgs

FROM ros:noetic-ros-core
FROM osrf/ros:noetic-desktop-full
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The full desktop image is overkill. Please use something like ros:noetic-ros-base as those include the essential build tools already.

ARG USER=user
ARG SCANCONTROL_SDK_VERSION

RUN apt-get update && apt-get install -y --no-install-recommends\
intltool \
pkg-config \
git \
python3-catkin-tools \
ros-noetic-rosserial \
ros-noetic-actionlib-tools \
terminator \
python3-pip \
&& rm -rf /var/lib/apt/lists/*

COPY --from=build ["/library_pkgs", "/library_pkgs"]
Expand All @@ -78,5 +85,6 @@ RUN apt-get update && \
apt install -y /library_pkgs/aravis_0.8.30-1_amd64.deb && \
apt install /library_pkgs/mescan_${SCANCONTROL_SDK_VERSION}-1_amd64.deb && \
apt install /library_pkgs/llt_${SCANCONTROL_SDK_VERSION}-1_amd64.deb \
&& rm -rf /var/lib/apt/lists/*
&& rm -rf /var/lib/apt/lists/*

USER ${ROS_USER}
13 changes: 11 additions & 2 deletions README.md
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Expand Up @@ -44,9 +44,10 @@ Run the uninstall script and follow the instruction in the command window:
#### Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using:


source /opt/ros/noetic/setup.bash
cd catkin_ws/src
git clone https://github.com/sam-xl/micro_epsilon_scancontrol.git
git clone https://github.com/sam-xl/scancontrol.git
cd ../
catkin build

Expand All @@ -60,6 +61,14 @@ Run the unit tests with

## Usage

Source the build packages from the repo:

source devel/setup.bash

Set the path for libllt binaries:

export PATH=$PATH:/usr/lib:/lib:/usr/local/lib

Run the main driver node with:

roslaunch micro_epsilon_scancontrol_driver load_driver.launch
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