Develop

There are some steps to do before working locally on Nanosaur and edit all scripts working with Docker.

Setup the environment on the host

Clone all repositories on your NVIDIA Jetson

cd $HOME
mkdir -p nanosaur_ws/src
cd nanosaur_ws/src
git clone https://github.com/rnanosaur/nanosaur.git
git clone https://github.com/rnanosaur/nanosaur_robot.git

REMEMBER: you don't need to build these packages from your host

Build Docker image locally

Build Dockerfile from source

cd $HOME/nanosaur_ws/src/nanosaur
docker build -f Dockerfile -t nanosaur/nanosaur:latest .

Build the image will need time

Run docker container

Now you can run and connect to the docker container and edit the source code directly from your host. All changes will appear inside the container.

docker run --runtime nvidia -it --rm  --network host --device /dev/i2c-0 --device /dev/i2c-1 -v /tmp/argus_socket:/tmp/argus_socket -v $HOME/nanosaur_ws/src:/opt/ros_ws/src/ nanosaur/nanosaur:latest bash

After this command, you will be able to edit and rebuild all sourcecode inside the container. If you leave the container, you can press CTRL-D. The Docker container will be destroyed, but all packages modifications will be on the host.