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README.md

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Overview

This directory contains scripts and Dockerfiles for use during development and testing of SubT Solutions.

Dockerfile Types

Each subdirectory contains a Dockerfile for a particular use case.

cloudsim_sim

This is the docker image that will run a simulation instance in the same way as CloudSim. Refer to: https://github.com/osrf/subt/wiki/Cloudsim%20Architecture.

This image should be used in conjunction with cloudsim_bridge.

Usage

  1. Build the docker image
./build.bash cloudsim_sim
  1. Run the docker image.
./run.bash cloudsim_sim cloudsim_sim.ign robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG1  robotName2:=X2 robotConfig2:=X2_SENSOR_CONFIG2

cloudsim_bridge

This is the docker image that will run the cloudsim bridge. Refer to: https://github.com/osrf/subt/wiki/Cloudsim%20Architecture.

This image should be used in conjunction with cloudsim_sim.

Usage

  1. Build the docker image
./build.bash cloudsim_bridge
  1. Run the docker image.
./run.bash cloudsim_bridge robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG1 robotName2:=X2 robotConfig2:=X2_SENSOR_CONFIG2

subt_shell

Use this directory to build a Docker image that supports an interactive bash shell and contains the SubT code base.

Usage

  1. Build the docker image
./build.bash subt_shell
  1. Run the docker image.
./run.bash subt_shell
  1. Join a running docker image
./join.bash subt_shell

subt_sim_entry

Use this directory to build a Docker image that will run an installed launch file.

Usage

  1. Build the docker image
./build.bash subt_sim_entry
  1. Run the docker image. The last command line option is the name of launch file.
./run.bash subt_sim_entry tunnel_circuit_practice.ign