fbot_docker

Setup

It's important to note that the container currently only works if you have a working NVIDIA GPU.

1. Install docker following the official documentation.
2. Install the NVIDIA Container Toolkit.
3. Clone this repository:

git clone https://github.com/gadorneles/fbot_docker

4. Build the images from this repository:

docker build -f Dockerfile.fbot -t fbot .

5. Create the pulseaudio socket

pactl load-module module-native-protocol-unix socket=/tmp/pulseaudio.socket

6. Allow docker to have access to the host:

xhost + local:docker

7. Download the butia packages:

mkdir -p ~/butia_ws/src
cd ~/butia_ws/src

git clone https://github.com/butia-bots/butia_speech.git
git clone https://github.com/butia-bots/butia_launchfiles.git
git clone https://github.com/butia-bots/butia_world.git
git clone https://github.com/butia-bots/butia_world_msgs.git
git clone https://github.com/butia-bots/butia_navigation_system.git
git clone https://github.com/butia-bots/butia_quiz.git
git clone --recursive https://github.com/butia-bots/butia_vision.git
git clone https://github.com/butia-bots/interbotix_ros_core.git
git clone https://github.com/butia-bots/interbotix_ros_manipulators.git
git clone https://github.com/butia-bots/interbotix_ros_toolboxes.git
git clone https://github.com/butia-bots/butia_face.git
git clone https://github.com/butia-bots/butia_description.git
git clone https://github.com/butia-bots/iai_kinect2.git
git clone https://github.com/butia-bots/rosaria.git

7. Initialize the container:

chmod +x run_docker.sh
./run_docker.sh fbot

Inside the container:

1. Clone the libfreenect repository:

cd ~/butia_ws/src/
git clone https://github.com/butia-bots/libfreenect2.git
cd ~/butia_ws/src/libfreenect
chmod +x install.sh
./install.sh

Everytime you create a new container you need to delete the current libfreenect folder and clone it again.

2. Enter the correct branches:

cd ~/butia_ws/src/butia_vision/ \
git checkout feat/vision_reqs \
chmod +x install.sh \
./install.sh \
cd ~/butia_ws/src/libfreenect2 \
chmod +x install.sh \
./install.sh \
cd ~/butia_ws/src/butia_speech \
git checkout feat/speech_reqs \
cd ~/butia_ws/src/butia_navigation_system \
git checkout feature/simulation \
cd ~/butia_ws/src/butia_launchfiles \
git checkout feat/follow-sim \
cd ~/butia_ws/src/interbotix_ros_manipulators \
git checkout feat/doris-arm \
cd ~/butia_ws/src/butia_description \
git checkout feat/update-sim \
cd ~/butia_ws/src/interbotix_ros_toolboxes \
git checkout noetic \
cd ~/butia_ws/src/interbotix_ros_core \
git checkout noetic\ 

3. Run rosdep:

cd ~/butia_ws/
sudo rosdep init
rosdep update
rosdep install -r --from-paths .

4. Build the package:

cd ~/butia_ws/
catkin_make

5. If you need to launch multiple terminals of the container do it with the following:

docker exec -it <container> bash