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Docker scripts

This directory contains two Dockerfiles:

  • development: useful to compile, run and test the connector package with its adapter.

  • simulation: launches a TB3 Gazebo simulation to test navigation commands and VDA actions using the adapter.

These docker images can be built and run using the docker-compose file. The compose allows:

  • Manipulating the execution of three containers: development, simulation and mosquitto (MQTT broker).
  • DISPLAY capabilities.
  • Creating a shared network between the containers.
  • Mounting the example adapter packages.

To work with it, there are two bash scripts that launch, attach and stop the containers:

  • Run development environment:

    ./setup.sh # Only development and mosquitto containers.

  • Run simulation environment:

    ./setup-sim.sh # Run the three containers.

These scripts automatically attach to the development container. To attach another terminal to a given container (development, simulation or mosquitto) use:

cd deployment && docker compose exec <container> bash

Inside the development container, you can directly compile the ROS2 code (colcon build) under the dev_ws folder, open tools like rqt or even send a message via MQTT.