cd ~/ git clone https://github.com/sandy1618/MicronUVGIRobot.git
sudo apt-get remove docker docker-engine docker.io containerd runc
curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh get-docker.sh
sudo usermod -aG docker $USER
docker pull uvtar/trishul:UVtar_client
cd ~/MicronUVGIRobot/Support/ros-docker-gui
chmod 666 /var/run/docker.so
make cpu_ros_melodic
copy and paste from file docker_run in root or from here:
docker run --rm -it --privileged --ipc=host \
--device=/dev/dri:/dev/dri \
--network host \
-v ~/.ssh:/home/.ssh \
-v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY \
-v $HOME/.Xauthority:/home/$(id -un)/.Xauthority -e XAUTHORITY=/home/$(id -un)/.Xauthority \
-e DOCKER_USER_NAME=$(id -un) \
-e DOCKER_USER_ID=$(id -u) \
-e DOCKER_USER_GROUP_NAME=$(id -gn) \
-e DOCKER_USER_GROUP_ID=$(id -g) \
-e ROS_IP=127.0.0.1 \
-v $HOME/MicronUVGIRobot:$HOME/MicronUVGIRobot \
--name UVtar_client1 \
uvtar/trishul:UVtar_client
docker stop UVtar_client1
export TURTLEBOT3_MODEL=burger3
// For simple environment with animated human actor , cannot be detected by lidar / ultrasonic sensor
roslaunch turtlebot3_slam turtlebot3_gmapping_v1.launch
//For office based environent with static human models detected by lidar, ultrasonic sensor
roslaunch turtlebot3_slam turtlebot3_gmapping_v2.launch
// Controlling turtlebot
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
roslaunch pal_person_detector_opencv detector.launch image:=/front_realsense/color/image_raw
rosrun image_view image_view image:=/person_detector/debug
rostopic echo /person_detector/detections
roslaunch pal_face_detector_opencv detector.launch image:=/front_realsense/color/image_raw
rosrun image_view image_view image:=/pal_face/debug
rosrun gazebo_ros spawn_model -file $(find turtlebot3_gazebo)/obstacles/box_obstacle.urdf -urdf -z 1 -model my_object