It may require tinkering with the other commands there, though.Char wheels_names = įor (int i = 0 i getMotor(wheels_names) ĭouble t = 0.0 // elapsed simulation timeĬonst double position = 100*sin(t * 2. If your Webots model crashes too often, please try to. You can go into one of the project's repositories and grab their Dockerfile, rebuilding it from the other image - just change, for example, cyberbotics/webots:R2021a-ubuntu20.04's Dockerfile to have FROM niurover/ros2_foxy:latest. The sensitivity of the crash detection is given by the parameters crashlimit and crashlimit linear. This will probably work fine as long as they both use the same base distribution. Copy one of the Dockerfiles and change their FROM.You'll need to copy all dependencies and if they're acquired through your package manager (apt-get), you'll leave dpkg's local database inconsistent. Copy just the files you need from the webots image using COPY -from=base.The webots image is not actually being used there. By default, the last stage in your Dockerfile will be the target (so, in your example, you're only actually using the ros2 image. This allows you to COPY from that stage specifying the -from option. When you have multiple FROM commands, you're not "inheriting" both of their contents into the same image - you're doing a multi-stage build. # Finally open a bash command to let the user interact # resolve a missing dependency for webots demo # new stuff added on top of niurover/ros2_foxy to assist with Webots + ROS2 #CMD # NOTE ignore this part of the Dockerfile RUN apt-get update & apt-get install -y \ Webots features a 3D web interface allowing you to publish simulations online. The robot controller programs can be written outside of Webots in C, C++, Python, ROS, Java or MATLAB using a simple API. ![]() RUN apt-get update & apt-get upgrade -y & apt-get install -y \ Collision detections, rigid body dynamics and fluid dynamics rely on a modified version of the ODE physics engine. #FROM $BASE_IMAGE as base # NOTE commented out since satisfied by above #ARG BASE_IMAGE=osrf/ros:foxy-desktop # NOTE commented out since satisfied by above If the plugin crahes due to a segmentation fault, gdb should print an error message similar to this: Program received signal SIGSEGV, Segmentation fault. # taken from Dockerfile for niurover/ros2_foxy found at: When Webots window appears, run the simulation until it crashes, or make it crash by some manipulations if necessary. Some other sub-packages contain demos with different robots such as the TurtleBot3. #FROM ros:foxy-ros-base-focal # NOTE commented out since satisfied by above The webotsros2 package provides an interface between ROS 2 and Webots.It includes several sub-packages, but in this tutorial, you are going to use only the webotsros2driver sub-package to implement a Python plugin controlling a simulated robot. # generated from docker_images_ros2/create_ros_ # This is an auto generated Dockerfile for ros:desktop # taken from Dockerfile for osrf/ros:foxy-desktop-focal (or is it osrf/ros:foxy-desktop?) found at: RUN apt-get update & apt-get install -no-install-recommends -y \ Webots was originally designed at EPFL in 1996 and then further developed and commercialized by Cyberbotics since 1998. webots has no bugs, it has no vulnerabilities, it has a Permissive License and it has medium support. # taken from Dockerfile for ros:foxy-ros-base-focal found at: webots is a C++ library typically used in Simulation applications. Webots has been codeveloped by the Swiss Federal Institute of Technology in Lausanne, thoroughly tested, well documented and continuously maintained. Thousands of institutions worldwide use it for R&D and teaching. # setup entrypoint # NOTE ignore this part of their Dockerfile Webots is an open source robot simulator that provides a complete development environment to model, program and simulate robots. RUN apt-get update & apt-get install -y -no-install-recommends \ RUN echo "deb focal main" > /etc/apt//ros2-latest.list ![]() RUN apt-get update & apt-get install -q -y -no-install-recommends \ ![]() # apt-get install -q -y -no-install-recommends tzdata & \ # ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime & \ # setup timezone # NOTE commented out since timezone should already be set up # taken from Dockerfile for ros:foxy-ros-core-focal found at: # container heirarchy all the way back to where it can stem off of `base` from above # niurover/ros2_foxy uses osrf/ros:foxy-desktop as its base, so I need to add code from ARG BASE_IMAGE_WEBOTS=cyberbotics/webots:R2021a-ubuntu20.04
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