zethus-demo-backend

Publishers for demonstrating capabilities of zethus and amphion

Install

Build from Source

1. Install ROS Kinetic and the following build tools.

    sudo apt-get install python-wstool python-catkin-tools clang-format-3.8
   

2. Setup Git-LFS if you have not already. If git lfs is not setup, the mesh file will not be downloaded for visualizing Mesh Resource. (note: Make sure to download the proper installation files from 'Downloads' section. The default download will always download the amd64 files)

3. Re-use or create a catkin workspace:

    export CATKIN_WS=~/ws_catkin
    mkdir -p $CATKIN_WS/src
    cd $CATKIN_WS/src
   

4. Download the required repositories and install any dependencies:

    git clone git@github.com:rapyuta-robotics/zethus-demo-backend.git
    wstool init .
    wstool merge zethus-demo-backend/zethus-demo-backend.rosinstall
    wstool update
    rosdep install --from-paths . --ignore-src --rosdistro kinetic
   

5. Configure and build the workspace:

    cd ..
    catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release
    catkin build
   

6. Source the workspace.

    source devel/setup.bash
   

Run Docker

Prerequisite

You must have a working installation of docker.

1. Navigate to $CATKIN_WS/src/zethus-demo-backend/. You should see the Dockerfile recipe in the directory.

2. Build the docker image

    DOCKER_BUILDKIT=1 docker build -t zethus-publisher:kinetic-source .
   

3. Run the docker image

   • Without the gui

       docker run -p 9090:9090 -p 8888:8888 -it zethus-publisher:kinetic-source
     

   Launch file is launched automatically on running docker image

   • To use the backend with rviz

       docker run --net=host -it zethus-publisher:kinetic-source 
     

   In case the backend is run remotely, rviz can be launched with ROS_MASTER_URI set

   ROS_MASTER_URI=http://<REMOTE_URI>:<REMOTE_PORT> rviz
   

Run the publisher

roslaunch zethus_publisher publisher.launch start_webserver:=true webserver_port:=9090 pcl_port:=8888