To get started recursively clone the repository with
git clone --recursive https://github.com/DominicZahn/ROS2-Gazebo-Docker.git
It is important that the subrepositories ROS2-Gazebo-Docker and ros2_heinz are included.
The general interaction with the Docker container can be seen in the subrepository ROS2-Gazebo-Docker.
Inside the running docker the dodge example can be executed by launching all nodes with a single launch file.
ros2 launch dodge_it stability.launch.py sim:=rviz_manualThis command launches the following nodes
- center_of_mass
- support_polygon
- robot_state_publisher
- rviz2
Now the RViz window should appear and show how the optimization is solved step by step. The time each step takes is highly depended on the computational capabilities of your system.