cardsflow_docker

Dockerized kindyn & cardsflow RViz with ROS1 & ROS2 support

• To build the Docker image, clone this repository, navigate to its root and run

docker build -t ros1-bridge-roboy .

• To instantiate a Docker container with ros1-bridge-roboy image run

xhost local:root 
docker run -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=${DISPLAY:0} -ti -d ros1-bridge-roboy bash

The above command will automatically launch necessary ROS nodes with required display settings and open RViz after about 5 seconds.

• To test the motion of Roboy3, from your ROS2 terminal run

ros2 topic pub /roboy/pinky/control/joint_targets sensor_msgs/msg/JointState "{name: ["shoulder_left_axis0"], position: [-0.5] }"

• To bridge further topics or services between ROS1 and ROS2 edit bridge.yaml and rebuild the container.