URC Software

Running on Linux

xhost +

run ./src/base_station_urc/launch/launchScript.sh

Running on Windows

docker build -t urc_software .
export DISPLAY=128.180.198.214:0.0 # replace with your IP address up to the colon
docker run --rm -it -e DISPLAY=$DISPLAY urc_software base_station
docker run --rm -it -e DISPLAY=$DISPLAY urc_software main_computer
docker run --rm -it -e DISPLAY=$DISPLAY urc_software driveline
docker run --rm -it -e DISPLAY=$DISPLAY urc_software ground_input

Tell docker to clean up after itself when it exits

In powershell or command prompt

docker run --rm -v C:/Users/phamd/urc_software:/root --name urc_software_dev -it -e DISPLAY=$DISPLAY urc_software

In WSL2

docker run --device=/dev/input/js0 --device=/dev/input/js1 -it -e DISPLAY=$DISPLAY --net=host urc_software

Inside docker

source /ros2_ws/install/setup.bash
ros2 launch base_station_urc base_station_launch.py
ros2 launch main_computer_urc main_computer_launch.py
ros2 launch driveline_urc driveline_launch.py
ros2 launch ground_input_urc ground_input_launch.py

Helpful commands to know

To verify executables in a package

ros2 pkg executables main_computer_urc

Setting up GUI forwarding on Windows

• Go here to install VcXsrv
• Launch it and choose the following settings
  • Multiple windows
  • Start no client
  • Uncheck “Native opengl” and check “Disable access control”
• When executing VcXsrv for the first time, a Windows Firewall pop-up should appear. Just be sure to give it permissions on both private and public networks.
• If the pop-up doesn't appear, or if you gave it the wrong permissions by mistake, you can just change the permissions manually. To do so, open Windows Security app and go to Firewall & network protection -> Allow an app through firewall and ensure VcXsrv windows x server has both permissions.
• We need to set the DISPLAY environment variable which tells WSL2 where to send the graphics for any application that needs a display to function. To do this, you’ll need to know the IP address for the Windows host machine. You can find this by going to Settings -> Network & Internet and looking under the properties of your current connection (it will probably be labeled as “IPv4 Address”)
• Go to Dockerfile and replace {your_ip_address} with your IP address in this line
  • RUN echo 'export DISPLAY={your_ip_address}:0.0' >> ~/.bashrc
  • For example, this is mine: RUN echo 'export DISPLAY=10.0.0.155:0.0' >> ~/.bashrc
• Build the docker image and run it as shown above

Credits to this article and this article

GUI Forwarding on Linux

export DISPLAY=:0.0
xhost +local:docker
sudo docker run -it -e DISPLAY=$DISPLAY --net=host lusi_software