Docker for development with Gazebo and YARP
Builds on the YARP Docker available at this link.
The code directory can be found in the container at /usr/local/src. Here you can find all the repositories which are already cloned with specific versions, known to be compatible with each other, built in the build directory available inside each repo, and installed system-wise.
The repositories being cloned are:
- https://github.com/event-driven-robotics/gazebo-yarp-plugins.git
- https://github.com/robotology/icub-gazebo.git
- https://github.com/robotology/icub-main.git
- https://github.com/xEnVrE/vision-based-manipulation-simulation.git
- https://github.com/robotology/yarp.git
- https://github.com/robotology/ycm.git
More specifically, in /usr/local/share/gazebo/worlds a set of available gazebo scenarios is provided. It is recommended to run this container with X server forwarding and Nvidia/OpenGL support (check for tags ending with _opengl), because the simulator requires graphical rendering which may be heavy to run on CPU.
Please check the helper functions available at https://github.com/event-driven-robotics/docker-resources.git
To run gazebo just type:
gazebo <PATH_TO_WORLD>
This will automatically load the YARP plugins compiled from /usr/local/src/gazebo-yarp-plugins.