Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Update README.md by feedback in CBT. #1

Merged
merged 1 commit into from
Dec 11, 2023
Merged

Update README.md by feedback in CBT. #1

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
36 changes: 26 additions & 10 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -36,14 +36,11 @@ Table of Contents
# Clone this repository
git clone https://github.com/j-marple-dev/slambox-ros.git --recursive

# Build docker image
docker build . -t jmarpledev/slambox_ros -f docker/Dockerfile --build-arg UID=$(id -u) --build-arg GID=$(id -u)

# Run docker container with shell (For development environment)
docker run -tid --privileged -e DISPLAY=:0 -e TERM=xterm-256color -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v /dev:/dev -v $PWD:/home/user/catkin_ws/src/slambox-ros --network host jmarpledev/slambox_ros /usr/bin/zsh
# Change directory
cd slambox-ros

# Run docker container for running SLAMBOX driver client
docker run -ti --privileged -e TERM=xterm-256color -v /dev:/dev -v $PWD:/home/user/catkin_ws/src/slambox-ros --network host jmarpledev/slambox_ros /usr/bin/bash -lic "roslaunch slambox_ros slambox_ros_client.launch"
# Build docker image
docker build . -t jmarpledev/slambox-ros -f docker/Dockerfile --build-arg UID=$(id -u) --build-arg GID=$(id -u)
```

### 1.1.3. Local ROS system
Expand All @@ -66,16 +63,17 @@ source devel/setup.{bash|zsh}

## 1.2. Configuration
### 1.2.1. Client configuration
- Please refer to [config/client.yaml](config/client.yaml) for configuration on client side.
- Please modify [config/client.yaml](config/client.yaml) for configuration on client side.
- Make sure [SLAMBOX Setting](https://sbox.jmarple.ai/SLAMBOXSetting.html) align with the `config.yaml`
```yaml
serial_communication:
enabled: true
port_name: "/dev/ttyUSB0"
baudrate: 921600

ethernet_communication:
enabled: true
server_addr: "192.168.1.50"
enabled: false
server_addr: "192.168.101.101"
port: 21580

publish:
Expand All @@ -87,6 +85,7 @@ subscribe:
```

## 1.3. Usage
### 1.3.1. Local ROS system
- Running ROS node
```shell
roslaunch slambox_ros slambox_ros_client.launch
Expand All @@ -97,6 +96,23 @@ subscribe:
rostopic hz /SLAMBOX/odom /SLAMBOX/pointcloud
```

### 1.3.2. Running on Docker image
- Run docker container for running SLAMBOX-ROS client
```shell
docker run -ti --privileged -e DISPLAY=:0 -e TERM=xterm-256color -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v /dev:/dev -v $PWD:/home/user/catkin_ws/src/slambox-ros --network host jmarpledev/slambox-ros /usr/bin/zsh
```

- Run docker container for running SLAMBOX-ROS client with rviz visualization
```shell
docker run -ti --privileged -e TERM=xterm-256color -e DISPLAY=:0 -v /dev:/dev -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v $PWD:/home/user/catkin_ws/src/slambox-ros --network host jmarpledev/slambox-ros /usr/bin/bash -lic "roslaunch slambox_ros slambox_ros_client.launch rviz:=true"
```

- Run docker container with shell (For development environment)
```shell
docker run -ti --privileged -e DISPLAY=:0 -e TERM=xterm-256color -v /tmp/.X11-unix:/tmp/.X11-unix:ro -v /dev:/dev -v $PWD:/home/user/catkin_ws/src/slambox-ros --network host jmarpledev/slambox-ros /usr/bin/zsh
```


# 2. Getting help
Please visit https://sbox.jmarple.ai for more information.

Expand Down