marine_robots_project

Codebase for the final project of DTU's Autonomous Marine Robotics course

installation

From the root of the project, run the following commands:

1. build the docker images

docker compose build

2. launch the 'dev' container

docker compose up

you should now have a running container with the name 'final_project_dev_1'

3. open a new terminal and connect to the 'dev' container

docker exec -it marine_robots_project_dev-1 bash

4. Install the dependencies of the base ros packages

cd ros_ws
rosdep install --from-paths src --ignore-src -y

5. Source before continuing

cd ../../opt/ros/noetic
source setup.bash
source local_setup.bash
cd ../../../home/ros_ws

6. Try to build the ros packages

catkin build -p2 -j8 --mem-limit 50%

7. Add the sourcing of your workspace to your .bashrc

echo "source ${HOME}/ros_ws/devel/setup.bash" >> ~/.bashrc

8. Source the workspace

source devel/setup.bash

Launching the simulation

run the following command inside the 'dev' container

1. Enter the dev container

docker exec -it final_project_dev_1 bash

2. Launch the simulation

roslaunch project_base bringup.launch [simulation:=true]

Additional information

• Some useful aliases are defined in the utils/aliases.sh file. You can source it by running source utils/aliases.sh outside the container. Important inside that file, the base_dir variable should be set to the path of the project in the container.