HARP2_Docker

This repository wraps the HARP2_ROS project inside a Docker environment, providing a standalone ROS 2 Humble workspace with Gazebo 11. It serves as a frozen snapshot of the work done on the HARP2 robot, before transitioning to the next-generation HARP3.

📁 Project Structure

HARP2_Docker/
├── .devcontainer/
│   ├── devcontainer.json
│   ├── Dockerfile
│   └── setup.sh
├── LICENSE
├── README.md
└── ros2_ws/
    └── src/
        └── HARP2_ROS/

✅ Requirements

• git-lfs

• Docker

• Visual Studio Code

  • With the Remote - Containers extension

⚙️ Installation

Clone the repository with submodules:

git clone --recurse-submodules git@github.com:robotcopper/HARP2_Docker.git

Then, open the HARP2_Docker folder in VS Code and run:

Dev Containers: Reopen in Container (from the Command Palette: F1 or Ctrl+Shift+P)

The Docker container will be built automatically, and everything will be set up. You’ll be ready to work with the HARP2 robot out of the box.

🚀 Usage

Refer to the HARP2_ROS documentation for full details. To quickly start the simulation, you can launch:

ros2 launch robot_bringup robot_nav_bringup.launch.py use_TopicBasedSystem_hardware_interface:=False

📄 License

This project is licensed under the BSD 3-Clause License.