[Nav2] what is the best practice for visualization of gazebo when using the nav2 dev docker?

asked 2021-07-22 03:55:58 -0600

ArneCh
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Hey! I really like the docker support provided by nav2. I am just wondering how you guys combine the visualization of gazebo with the docker in your daily work. Do you run the gzclient from inside the docker or on your native machine? Best, Arne

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No different than any other application using Gazebo / pop ups through Docker. You might be better served looking into Docker docs / forums.

stevemacenski ( 2021-07-22 14:38:56 -0600 )edit

Thanks for the answer. Checked both options - was just curious about how the nav2 community is using it

ArneCh ( 2021-07-23 02:09:58 -0600 )edit

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answered 2021-07-24 00:06:31 -0600

ruffsl
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updated 2021-07-24 00:09:29 -0600

Personally, I have a laptop with native ubuntu install with an nvidia GPU. So I find it easiest to use:

X11 forwarding for displaying GUI windows
Hardware acceleration with GPU for rendering in gazebo and rviz
Host networking to simplify DDS discovery between host and containered programs

I find rocker provides a convenient wrapper around the docker CLI to configure this for any ROS related Docker images:

https://github.com/osrf/rocker

For example:

rocker --x11 --nvidia --net=host \
  my/navigation2:tag \
  ros2 launch nav2_bringup tb3_simulation_launch.py

Other reference examples of using rocker:

https://github.com/ros-swg/turtlebot3...

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Thank you for your answer! In the end I haven't used rocker but integrated it natively in vs code - but that s also the setup I converged to. Thanks for the last link. Interesting!

ArneCh ( 2021-07-24 04:59:08 -0600 )edit

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[Nav2] what is the best practice for visualization of gazebo when using the nav2 dev docker?

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[Nav2] what is the best practice for visualization of gazebo when using the nav2 dev docker?