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opencog-ros

Dockerfiles for Robot Operating System (ROS), integrated with Blender, Pololu, Nick's Machine Perception Saliency, OpenCog, and other add-ons.

Docker image structure:

├─ros-hydro-deps
  ├─ros-hydro-dev
    ├─ros-hydro-openni
      ├─ros-hydro-percept

├─ros-indigo-base
  ├─ros-indigo-blender
    ├─ros-indigo-animation
    ├─ros-arthur-dev
  ├─ros-indigo-dev
    ├─ros-indigo-einstein
    ├─ros-indigo-opencog
    ├─ros-indigo-zenorsm

Images available at https://index.docker.io/u/opencog

Pull using, e.g., docker pull ros-indigo-opencog

Organizational Notes

The base and blender images should be general enough to allow various different robots to be brought up and demoed.

  • ros-indigo-base provides a base set of ROS packages, nothing more. The packages are sufficient for performing ROS demos, but no actual development.

  • ros-indigo-blender adds blender to the base, thus allowing ROS nodes to control blender animations.

  • ros-indigo-animation provides a demo of the Hanson Robotics Arthur blender rig inside of a ROS node. ROS messages are used to control facial expression animations. See the README in the indigo/animation directory for more details.

  • ros-arthur-dev provides the full Hanson Robotics Arthur head development environment. This includes vision and sound processing, motor controls, scripted behaviors, and a web user interface. See the README in indigo/arthur-dev for more details.

  • ros-indigo-dev provides additional development packages, allowing developers to build and test inside of docker containers. XXX this needs to be cleaned up and replaced by one of the above!?

Installation

To run the demos, docker must be installed. Instructions can be found here: https://docs.docker.com/installation/ubuntulinux/ . The Giving non-root access section on the page above explains how to avoid having to use sudo all the time.