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z1_controller
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siilats 2023-05-09 15:32:37 -04:00
parent 997bf824cb
commit 541b8a2376
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Dockerfile
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@ -1,7 +1,7 @@
FROM osrf/ros:noetic-desktop-full FROM osrf/ros:noetic-desktop-full
RUN apt-get update RUN apt-get update
RUN apt-get -y install python3-catkin-tools RUN apt-get -y install python3-catkin-tools ninja-build git
ADD . / data/ ADD . / data/
WORKDIR data WORKDIR data

11
README.md
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@ -10,4 +10,13 @@ see [unitree-z1-docs](http://dev-z1.unitree.com)
docker build . -t bytelogics:z1_controller docker build . -t bytelogics:z1_controller
## Run the docker instance ## Run the docker instance
docker run -ti --rm --network host -p 8071:8071 bytelogics:z1_controller ## old docker run -ti --rm --network host --env="DISPLAY" -e DISPLAY=${HOSTNAME}:0 --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --volume="/Users/keithsiilats/overlay_ws:/data/overlay_ws" --volume="/Users/keithsiilats/unitree_ws:/data/unitree_ws" -p 8071:8071 -p 11311:11311 bytelogics:z1_controller bash
docker run -ti --rm --network host --env="DISPLAY=novnc:0.0" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --volume="/Users/keithsiilats/overlay_ws:/data/overlay_ws" --volume="/Users/keithsiilats/unitree_ws:/data/unitree_ws" -p 8071:8071 -p 11311:11311 bytelogics:z1_controller bash
docker run -d --rm --network host --env="DISPLAY_WIDTH=3000" --env="DISPLAY_HEIGHT=1800" --env="RUN_XTERM=no" \
--name=novnc -p=8080:8080 theasp/novnc:latest
## on mac setup
https://gist.github.com/cschiewek/246a244ba23da8b9f0e7b11a68bf3285
cd /data/unitree_ws
source devel/setup.bash
roslaunch unitree_gazebo z1.launch