HRI-Cacti 🌵

Docker-based project workspace setup for the Human Robot Interaction (HRI) Command and Control Teammate Interface (CACTI) project.

Main Project Repository: hri_cacti_xr

Table of Contents

• 1. Setup Docker Container
• 2. Install Project Packages
• 3. Run Packages and Contribute
• 4. Custom Shell Commands

1. Setup Docker Container

Note: This docker installation is the recommended way to run and contribute to this project. The installation instructions below will setup a Docker container on your machine mounted to the local HRI-Cacti/project/ directory from this repo on your local machine after cloning this repo. The /project/ directory in the Docker container after setup will be mounted (synced) to the HRI-Cacti/project/ directory on your local machine. The intended work flow is to develop in the local HRI-Cacti/project/ directory on your local machine and then build and run the packages located in /project/ from a Docker container shell.

1. Install prerequisites

   vcstool

   
   

   sudo apt install python3-vcstool

   Docker

   
   

   https://docs.docker.com/engine/install/ubuntu/

   NVIDIA Container Toolkit

   
   

   https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/1.14.5/install-guide.html

   Docker: Post Installation Steps

   
   

   https://docs.docker.com/engine/install/linux-postinstall/

2. Clone repo & setup environment variables

   git clone -b devel [email protected]:frank-Regal/HRI-Cacti.git && \
     cd HRI-Cacti && \
     chmod +x setup.sh && \
     ./setup.sh

3. Source environment

   source Docker/bash_utils && source ~/.bashrc

4. Build Docker Image

   Note: HRI-Cacti/setup.sh script should have sourced the HRI-Cacti/Docker/bash-utils file to run the following shell cmds. If they were not correctly setup, see HRI-Cacti/Docker/bash-utils for a list of the cmds to run.

   cacti-build

5. Start Container

   cacti-start

2. Install Project Packages

♦ hri_cacti_xr (main project repository)

Note: Follow the steps below only if you setup the docker environment in 1. Setup Docker Container. For non-docker, local machine, setup, see this project repo for local install instructions.

1. From HRI-Cacti/ directory, create the following workspace directories

   mkdir -p project/ws_dev/src && cd project/ws_dev/src

2. Clone hri_cacti_xr repo and import submodules.

   git clone [email protected]:frank-Regal/hri_cacti_xr.git && \
     cd hri_cacti_xr && \
     vcs import < .repos

3. Open Docker shell

   cacti-shell

4. 🐋 From Docker Shell Build custom python package and catkin workspace

   cd /project/ws_dev/ && catkin build

5. 🐋 From Docker Shell Source catkin workspace

   sws #preconfigured alias

3. Run Packages and Contribute

Note: From here on out, whenever you are running or building ANY packages used within the frank-Regal/hri_cacti_xr main project repository, run the commands from a Docker Container Shell that you setup in 1. Setup Docker Container section. For making Git push/pulls/clones, ensure you are working in a local machine shell!

• Run - frank-Regal/hri_cacti_xr
• Contribute - frank-Regal/hri_cacti_xr

4. Custom Shell Commands

Local Shell aliases & bash commands

cacti-start # starts the hri_cacti_i docker image if it is not started (see Docker/bash_utils for full list)
cacti-shell # opens a shell in docker (see Docker/bash_utils for full list)
cacti-build # builds/rebulds the docker image (see Docker/bash_utils for full list)
vcs pull -n # pulls all changes from all nested repositories (see Docker/bash_utils for full list)

🐋 Docker Shell aliases

sws # sources the catkin workspace
cdcacti # changes directory in the main project workspace