Mars Rover Demo

Build the Space ROS & MoveIt2 Docker Images

If you haven’t already, follow these instructions for building the MoveIt2 docker image, and these instructions for the spaceros image. These are the base images for the Canadarm and Curiosity Mars rover demos. The Dockerfile installs all of the prerequisite system dependencies along with the demos source code, then builds the Space ROS Space Robots Demo.

Space ROS Space Robots Demo Docker Image

Build the space_robots image:

cd ../space_robots
./build.sh

Running the Demo Docker

Run the following to allow GUI passthrough:

xhost +local:docker

Then run:

./run.sh

Depending on the host computer, you might need to remove the --gpus all flag in run.sh, which uses your GPUs.

Running the Mars Rover Demo

Launch the demo:

ros2 launch mars_rover mars_rover.launch.py

On the top left corner, click on the refresh button to show camera feed.

Perform Tasks

Setup

Open a new terminal and attach it to the currently running container:

docker exec -it <container-name> bash

Make sure packages are sourced:

source ~/spaceros/install/setup.bash

source ~/demos_ws/install/setup.bash

Available Commands

Drive the rover forward:

ros2 service call /move_forward std_srvs/srv/Empty

Stop the rover:

ros2 service call /move_stop std_srvs/srv/Empty

Turn left:

ros2 service call /turn_left std_srvs/srv/Empty

Turn right:

ros2 service call /turn_right std_srvs/srv/Empty

Open the tool arm:

ros2 service call /open_arm std_srvs/srv/Empty

Cloes the tool arm:

ros2 service call /close_arm std_srvs/srv/Empty

Open the mast (camera arm):

ros2 service call /mast_open std_srvs/srv/Empty

Close the mast (camera arm):

ros2 service call /mast_close std_srvs/srv/Empty