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system installation readme is updated

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Rooholla-Khorrambakht 2024-05-20 20:00:33 -04:00
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docs/setup.md
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@ -82,4 +82,16 @@ Finally, we need to install the Go2Py Python library on a computer located on th
```bash
pip install -e .
```
To check the installation, run the interface example [here](../examples/00-robot-interface.ipynb) to make sure you can read the state of the robot. In addition to local installation, you can also the provided docker support. To do so, run `make docker_start` in the root directory of the repository. With this, a docker container with all the required dependencies runs and the Go2Py repository will be mounted into it. Then you can install the repository in editable mode inside this container.
To check the installation, run the interface example [here](../examples/00-robot-interface.ipynb) to make sure you can read the state of the robot. In addition to local installation, you can also the provided docker support. To do so, run `make docker_start` in the root directory of the repository:
```bash
cd ~/Go2Py
make docker_start
```
With this, a docker container with all the required dependencies will be launched and the Go2Py repository will be mounted into `/workspaces/Go2Py` and installed in editable mode. Since our docker support is based on the Nvida Isaac-ROS images, you can also use the Iasaac-ROS nodes within this environment.
**Note:** Our base docker image can be extended in a similar way to the Isaac-ROS images (explained [here](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_common/index.html)). Simply append the `CONFIG_IMAGE_KEY="ros2_humble.go2py"` [here](../scripts/.isaac_ros_common-config) with the key to your custom Dockerfile name (e.g. `CONFIG_IMAGE_KEY="ros2_humble.go2py.custom"` for `Dockerfile.custom`) and place your docker file under `docker` directory [here](../docker) and append its name with the key you used (e.g. `Dockerfile.custom`). Your custom Dockerfile should start with:
```docker
ARG BASE_IMAGE
FROM ${BASE_IMAGE}
```