From 1d1e91274b8ca1351dca190be35314a20e75fc43 Mon Sep 17 00:00:00 2001 From: Vamsi Date: Fri, 15 Nov 2024 17:30:27 +0100 Subject: [PATCH] added missing NVIDIA Runtime instructions for Docker --- README.md | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index a647386..1b79073 100644 --- a/README.md +++ b/README.md @@ -80,6 +80,10 @@ source ~/eddie_ws/install/setup.bash ## Docker +### Setup NVIDIA Runtime for Docker + +Install the [nvidia-container-toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html) and configure it for the Docker. + ### Build the Docker Image ```bash @@ -109,6 +113,10 @@ sudo docker run -it --rm --runtime=nvidia --gpus all \ ros2 launch eddie_gazebo eddie_gazebo.launch.py ``` +- To move the base using `Teleop`, select the `Teleop` from the `Tools` menu in the Gazebo GUI. +- Change the `topic` to `/model/robot/cmd_vel` and Enter. +- Then, you can move the robot using the selected controls. + 1. By default, the `base_controller` for controlling the mobile base is a velocity controller and the `arm_controller` for controlling the Kinova arms is a `trajectory_controller`. You can customize the base_controller and arm_controller by providing launch arguments, for example: @@ -153,7 +161,8 @@ Choose robot component to command using ``` --- -> [!WARNING] The below instructions are not yet tested and may not work as expected. +> [!WARNING] +> The below instructions are not yet tested and may not work as expected. The behaviour of this executable can be changed to match the controllers used when launching `eddie_gazebo.launch.py`. This can be done by providing `arm_controller` and `base_controller`