diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 6a760ec649bd39ee2f7642b5a58eaf3343631394..384adc97b2052c1a5e4170670320bb1b16412e10 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -33,9 +33,8 @@
"ms-iot.vscode-ros",
"ms-vscode.cmake-tools",
"ms-python.python",
-
- // remove VS Code plugin to not show cell tags in editor
- "-ms-toolsai.vscode-jupyter-cell-tags"
+ "-ms-toolsai.vscode-jupyter-cell-tags",
+ "ms-azuretools.vscode-docker"
]
}
}
diff --git a/README.md b/README.md
index 898d2163794504f41be614885c59e57835b0e6f9..e058ca474f527d92c2169dd2db164300d91e8ab3 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,6 @@
# ROS Noetic Standard Container with Preinstalled Learn Environment Plugin
-> **âš ï¸ WARNING:** This README is for setting up the container with all functionalities. For the Learn Environment Plugin, follow the instructions in this README first. Then, refer to [GETTING_STARTED.md](./catkin_ws/src/learn_environment/tasks/GETTING_STARTED.md) for starting the tutorial or [CONTRIBUTE.md](./catkin_ws/src/learn_environment/developer_docs/CONTRIBUTE.md) for contribution guidelines (creating new tasks & extending the plugin) in the [plugin's repository](TODO:ADD_LINK).
-
+> **âš ï¸ WARNING:** This README is for setting up the container with all functionalities. For the Learn Environment Plugin, follow the instructions in this README first. Then, refer to [GETTING_STARTED.md](./catkin_ws/src/learn_environment/tasks/GETTING_STARTED.md) for starting the tutorial or [CONTRIBUTE.md](./catkin_ws/src/learn_environment/developer_docs/CONTRIBUTE.md) for contribution guidelines (creating new tasks & extending the plugin) in the [plugin's repository](https://gitlab.kit.edu/kit/aifb/BIS/lehre/seminare/programmieren_3/202425/gruppe-3/learn-environment-franka-emika-panda).
This repository provides a Visual Studio Code development container with ROS Noetic installed to control a Franka Panda Robot in both simulation and real environments. It also has the Learn Environment plugin for RViz preinstalled and is optimised so you can start learning how to work with the robot immediatly.
@@ -27,6 +26,7 @@ When to Use Devcontainers:
- Faster build
- Display forwarding already implemented
- Easier to enable GPU support on non-NVIDIA graphic cards
+- Native application windows without the need for NoVNC or other web-based desktop virtualization.
### Local Windows Installation
@@ -34,16 +34,15 @@ When to Use Devcontainers:
<summary>Using Devcontainer</summary>
1. Install [Visual Studio Code](https://code.visualstudio.com/)
- - Install the DevContainer extension (ID: ms-vscode-remote.remote-containers)
+ - Install the [Dev Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension (ID: ms-vscode-remote.remote-containers)
2. Install [WSL2](https://learn.microsoft.com/en-us/windows/wsl/install)
3. Install [Docker](https://docs.docker.com/desktop/install/windows-install/)
- You may need to install [docker-compose](https://docs.docker.com/compose/) with `pip install docker-compose`
-4. Fork this repository.
+4. Create an SSH key in your WSL environment and add it to your git.ssc.kit.edu SSH keys. [Explanation](https://docs.gitlab.kit.edu/en/getting_started/#1-ssh-connection-using-ssh-keys)
5. Clone the repository in your WSL environment:
```bash
- git clone <repository-url>
+ git clone --recurse-submodules git@gitlab.kit.edu:kit/aifb/BIS/lehre/seminare/programmieren_3/202425/gruppe-3/containerized-setup-learn-environment-franka-emika-panda.git
```
- - Create an SSH key in your WSL environment and add it to your git.ssc.kit.edu SSH keys. [Explanation](https://docs.gitlab.kit.edu/en/getting_started/#1-ssh-connection-using-ssh-keys)
6. Open the repository folder in VS Code.
7. Open the container in a Docker environment:
```bash
@@ -57,16 +56,16 @@ When to Use Devcontainers:
<summary>Without Devcontainer</summary>
1. Install [Visual Studio Code](https://code.visualstudio.com/)
- - Install the Docker extension (ID: ms-azuretools.vscode-docker)
+ - Install the [Docker extension](https://marketplace.visualstudio.com/items?itemName=ms-azuretools.vscode-docker) (ID: ms-azuretools.vscode-docker)
+ - Install the [Dev Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension (ID: ms-vscode-remote.remote-containers)
2. Install [WSL2](https://learn.microsoft.com/en-us/windows/wsl/install)
3. Install [Docker](https://docs.docker.com/desktop/install/windows-install/)
- You may need to install [docker-compose](https://docs.docker.com/compose/) with `pip install docker-compose`
-4. Fork this repository.
+4. Create an SSH key in your WSL environment and add it to your git.ssc.kit.edu SSH keys. [Explanation](https://docs.gitlab.kit.edu/en/getting_started/#1-ssh-connection-using-ssh-keys)
5. Clone the repository in your WSL environment:
```bash
- git clone <repository-url>
+ git clone --recurse-submodules git@gitlab.kit.edu:kit/aifb/BIS/lehre/seminare/programmieren_3/202425/gruppe-3/containerized-setup-learn-environment-franka-emika-panda.git
```
- - Create an SSH key in your WSL environment and add it to your git.ssc.kit.edu SSH keys. [Explanation](https://docs.gitlab.kit.edu/en/getting_started/#1-ssh-connection-using-ssh-keys)
6. Open the repository folder in VS Code.
7. Build the container:
```bash
@@ -78,7 +77,7 @@ When to Use Devcontainers:
```
9. Attach VS Code to the container:
- Click on the Docker extension (left sidebar in VS Code).
- - Find the running container and click on `Attach VS Code`. This opens a new VS Code window inside the container.
+ - Find the running container, right-click on it, and select `Attach VS Code`. This will open a new VS Code window inside the container.
10. Make the display available for the container:
- Install [VcXsrv](https://sourceforge.net/projects/vcxsrv/).
- Start the `XLaunch` Application (e.g. from Windows Start Menu)
@@ -94,13 +93,13 @@ When to Use Devcontainers:
<summary>Using Devcontainer</summary>
1. Install [Visual Studio Code](https://code.visualstudio.com/)
+ - Install the [Dev Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension (ID: ms-vscode-remote.remote-containers)
2. Install [Docker](https://docs.docker.com/engine/install/ubuntu/)
-3. Fork this repository.
+3. Create an SSH key in your WSL environment and add it to your git.ssc.kit.edu SSH keys. [Explanation](https://docs.gitlab.kit.edu/en/getting_started/#1-ssh-connection-using-ssh-keys)
4. Clone the repository in your environment:
```bash
- git clone <repository-url>
+ git clone --recurse-submodules git@gitlab.kit.edu:kit/aifb/BIS/lehre/seminare/programmieren_3/202425/gruppe-3/containerized-setup-learn-environment-franka-emika-panda.git
```
- - Create an SSH key in your environment and add it to your git.ssc.kit.edu SSH keys. [Explanation](https://docs.gitlab.kit.edu/en/getting_started/#1-ssh-connection-using-ssh-keys)
5. Open the repository folder in VS Code.
6. Open the container in a Docker environment:
```bash
@@ -114,15 +113,15 @@ When to Use Devcontainers:
<summary>Without Devcontainer</summary>
1. Install [Visual Studio Code](https://code.visualstudio.com/)
- - Install the Docker extension (ID: ms-azuretools.vscode-docker)
+ - Install the [Docker extension](https://marketplace.visualstudio.com/items?itemName=ms-azuretools.vscode-docker) (ID: ms-azuretools.vscode-docker)
+ - Install the [Dev Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension (ID: ms-vscode-remote.remote-containers)
2. Install [Docker](https://docs.docker.com/engine/install/ubuntu/)
- You may need to install [docker-compose](https://docs.docker.com/compose/) with `pip install docker-compose`
-3. Fork this repository.
+3. Create an SSH key in your WSL environment and add it to your git.ssc.kit.edu SSH keys. [Explanation](https://docs.gitlab.kit.edu/en/getting_started/#1-ssh-connection-using-ssh-keys)
4. Clone the repository in your environment:
```bash
- git clone <repository-url>
+ git clone --recurse-submodules git@gitlab.kit.edu:kit/aifb/BIS/lehre/seminare/programmieren_3/202425/gruppe-3/containerized-setup-learn-environment-franka-emika-panda.git
```
- - Create an SSH key in your environment and add it to your git.ssc.kit.edu SSH keys. [Explanation](https://docs.gitlab.kit.edu/en/getting_started/#1-ssh-connection-using-ssh-keys)
5. Open the repository folder in VS Code.
6. Build the container:
```bash
@@ -134,7 +133,7 @@ When to Use Devcontainers:
```
8. Attach VS Code to the container:
- Click on the Docker extension (left sidebar in VS Code).
- - Find the running container and click on `Attach VS Code`. This opens a new VS Code window inside the container.
+ - Find the running container, right-click on it, and select `Attach VS Code`. This will open a new VS Code window inside the container.
</details>
diff --git a/build.ps1 b/build.ps1
index 6f00fcf5425cd31fff6a2f288ba3f0edab6c1dcc..633c14a18d73172df101fe749e556dfaeedf9eed 100644
--- a/build.ps1
+++ b/build.ps1
@@ -1,2 +1,2 @@
# Build the Docker container using the specified Dockerfile
-docker build -f "$(Join-Path $PSScriptRoot '.devcontainer/Dockerfile')" -t container-ros-noetic-moveit-panda .
\ No newline at end of file
+docker build -f "$(Join-Path $PSScriptRoot '.devcontainer/Dockerfile')" -t container-ros-noetic-moveit-panda-learn-environment .
\ No newline at end of file
diff --git a/build.sh b/build.sh
index 474e2bae6bf810f052aba1357c4caa2fce5767ad..df6ff4dfb5e7854cb6e27e6752ab767dc5405d52 100755
--- a/build.sh
+++ b/build.sh
@@ -1,3 +1,3 @@
#!/bin/sh
cd "$(dirname "$0")"
-sudo docker build -f .devcontainer/Dockerfile -t container-ros-noetic-moveit-panda .
\ No newline at end of file
+sudo docker build -f .devcontainer/Dockerfile -t container-ros-noetic-moveit-panda-learn-environment .
\ No newline at end of file
diff --git a/catkin_ws/src/learn_environment b/catkin_ws/src/learn_environment
index 7bb4176bf87b147264ece401854ef371ef2a887e..c0810c6e217842dfa332d6c343562c5059b01310 160000
--- a/catkin_ws/src/learn_environment
+++ b/catkin_ws/src/learn_environment
@@ -1 +1 @@
-Subproject commit 7bb4176bf87b147264ece401854ef371ef2a887e
+Subproject commit c0810c6e217842dfa332d6c343562c5059b01310
diff --git a/run.ps1 b/run.ps1
index 0e7a9a98b7525b2fd3f8be4c49385fba4eb8ceba..d2f4b8328d3585271ae8f063e592bc640ad2e4e2 100644
--- a/run.ps1
+++ b/run.ps1
@@ -7,12 +7,12 @@ if (Get-WmiObject Win32_VideoController | Where-Object { $_.Name -like "*NVIDIA*
--gpus all `
--env="DISPLAY=$env:DISPLAY" `
--volume="/tmp/.X11-unix:/tmp/.X11-unix" `
- container-ros-noetic-moveit-panda /bin/bash
+ container-ros-noetic-moveit-panda-learn-environment /bin/bash
} else {
docker run -it `
--device=/dev/dri `
--group-add video `
--env="DISPLAY=$env:DISPLAY" `
--volume="/tmp/.X11-unix:/tmp/.X11-unix" `
- container-ros-noetic-moveit-panda /bin/bash
+ container-ros-noetic-moveit-panda-learn-environment /bin/bash
}
\ No newline at end of file
diff --git a/run.sh b/run.sh
index 68cf8189331e8105a6ee4300fbfa2c9c3176ce98..81cfedd33d0538629f5d8c12157f610e0575c4be 100755
--- a/run.sh
+++ b/run.sh
@@ -12,12 +12,12 @@ if lspci | grep -i nvidia > /dev/null; then
--gpus all \
--env="DISPLAY=$DISPLAY" \
--volume="/tmp/.X11-unix:/tmp/.X11-unix" \
- container-ros-noetic-moveit-panda /bin/bash
+ container-ros-noetic-moveit-panda-learn-environment /bin/bash
else
docker run -it \
--device=/dev/dri \
--group-add video \
--env="DISPLAY=$DISPLAY" \
--volume="/tmp/.X11-unix:/tmp/.X11-unix" \
- container-ros-noetic-moveit-panda /bin/bash
+ container-ros-noetic-moveit-panda-learn-environment /bin/bash
fi
\ No newline at end of file