Docker Compose

The simulator is inside a docker container, which by running it, the simulator will also be launched. To do this, run the following command on your terminal:

docker compose up

The docker-compose.yml file uses the same Docker image as the development container (Image in .devcontainer folder) and executes the entrypoint.sh script at startup.

Code Development - Dev Container

In case you want to do some work inside the container, by using the Dev Containers extension in VSCode the process becomes very simple, since there is a .devcontainer which contains the configuration for a development container for that purpose.

To run this, first you need to install some extensions. You can get them through here Remote Development Extension. Then you need to create some cache folders. This can be done by running the following commands:

./environment_setup.sh

Finally do Ctrl + Shift + P and choose the option:

Dev Containers: Rebuild and Reopen in container

General Notes

For the simulator to communicate with your system, make sure to set the ROS Domain ID to the same value in both systems:

export ROS_DOMAIN_ID=42