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Build Workspace

cd ~/catkin_ws/src/rap_group1/rap_group1 && catkin build --this && source ~/catkin_ws/devel/setup.bash

Run everything

roslaunch rap_group1 summit_xl_group1.launch
python scripts/solution.py

On the GPU VMs provided by the course

When working with the VMs with GPU provided by the course, you can launch the containers with the following command:

./run_gpu.sh

This will start one containers with the ROS Kinetic environment installed for you to work. Note that you will be required to set a password that you will need to access the desktops using the browser. You can access with your browser at: https://IP_ADDRESS/vnc.html

Click on the Connect button and you will be asked to insert the password you have defined when you started the container.

On your own laptop (Any OS supporting docker compose)

When working with your own laptop, you can launch the containers using docker-compose with the following command:

docker-compose up

This will launch two containers, one with the ROS Kinetic environment installed for you to work on, and one for novnc (the GUI) which you can access through your browser at: http://IP_ADDRESS/vnc.html.

In another terminal, you can access the ROS container with:

docker exec -it rap_group1_ros_1 bash

From that console you can launch the scripts of the lab (e.g., roslaunch ...). In the end you'll have a split environment where you have anything that has to do with the GUI in the browser, but you can launch commands from the console.

NOTE: the ZHAW VPN client gets in the way of the networking between the containers. If you experience issues try disconnecting from the VPN and restarting the composition.