Complete jackal example running on Docker container

docker/Dockerfile

@@ -97,7 +97,7 @@ ARG DEBIAN_FRONTEND=dialog
 # Run bash
 # ==
 CMD ["/bin/bash"]
-WORKDIR /root
+WORKDIR /root/catkin_ws
 
 
 ###############################################################
@@ -109,7 +109,7 @@ FROM base as dev
 
 ENV DEBIAN_FRONTEND=noninteractive
 
-RUN mkdir -p catkin_ws/src \
+RUN mkdir -p /root/catkin_ws/src \
     && source /opt/ros/noetic/setup.bash \
     && source "/root/.bashrc" \
     && cd /root/catkin_ws && catkin build \

docker/README.md

@@ -1,17 +1,24 @@
-# Docker files
+# Jackal Simulation Demo
 
-## Build and run containers
+We provide an example package to demonstrate Wild Visual Navigation on a simulated environment with a Clearpath Jackal robot.
+
+This example should be self-contained and it should run on a Docker container. This was tested on Ubuntu machines, we do not expect the GUI to run on Windows or Mac computers (due to X11 support).
+
+
+## Build the image
 
 To build the container:
 
 ```sh
-docker compose -f docker-compose.yaml build
+docker compose -f docker-compose-gui-nvidia.yaml build
 ```
 
+## Run the container
+
 To run the container (terminal-based):
 
 ```sh
-docker compose -f docker-compose.yaml up -d
+docker compose -f docker-compose-gui-nvidia.yaml up -d
 ```
 
 To launch bash on the container:
@@ -20,15 +27,48 @@ To launch bash on the container:
 docker compose exec wvn bash
 ```
 
+## Stop the container
+
 To stop the container:
 
 ```sh
 docker compose -f docker-compose.yaml stop
 ```
 
-To run the GUI-enabled version and check the Gazebo environment:
+## Running Wild Visual Navigation
+
+You can either run the following commands in 4 terminals that initialize a bash terminal in the container, or you can use VS Code with the Docker extension to instantiate terminal in the container directly.
+
+### Launch Jackal sim
+
+```sh
+roslaunch wild_visual_navigation_jackal sim.launch 
+```
+
+### Launch WVN
+
+```sh
+roslaunch wild_visual_navigation_jackal wild_visual_navigation.launch
+```
+
+### Launch Teleop node
+
+```sh
+roslaunch wild_visual_navigation_jackal teleop.launch 
+```
+
+### Launch RViz window
+
+```sh
+roslaunch wild_visual_navigation_jackal view.launch 
+```
+
+
+## Troubleshooting
+
+If the GUI doesn't work, you might need to allow the X Server to connect before running the container:
 
 ```sh
-docker compose -f docker-compose-gui.yaml up -d
-docker compose exec wvn_gui bash
+xhost +Local:*
+xhost
 ```

wild_visual_navigation_jackal/CMakeLists.txt

@@ -24,4 +24,10 @@ catkin_package(
 message(${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY launch Media worlds
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
+)
+
+############
+## Python ##
+############
+catkin_install_python(PROGRAMS scripts/jackal_state_converter_node.py
+                      DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})