Docker tested successfully, GPU acceleration works, ros2 std message …

…control works, ready for submission

o3de_mars_rover/README.md

@@ -2,7 +2,12 @@
 
 This directory contains the Dockerfile instructions for creating the ```TODO``` image that showcases Curiosity rover navigating through a clutterd test environment inspired by JPL's Mars Yard testing ground.
 
-This project was created as a submission to the NASA Space ROS Sim Summer Sprint Challenge 2024. A short review on O3DE, a small video showing the system in action and other related discussion can be found in this [PR](https://github.com/space-ros/demos/pull/64)
+Author: Azmyin Md. Kamal
+Version: 1.0
+Date: 09/09/2024
+Landing page: **TODO** after submission. This page will always have the most updated information.
+
+Version 1: This project was created as a submission to the NASA Space ROS Sim Summer Sprint Challenge 2024. A short review on O3DE, a small video showing the system in action and other related discussion can be found in this [PR](https://github.com/space-ros/demos/pull/64). In this submission only forward movement is supported.
 
 ## Prerequisits
 
@@ -25,11 +30,46 @@ cd /o3de_mars_rover
 
 ## Run the demo
 
-* In the terminal where you would launch the O3DE, run the following 
+* Use ```docker ps -a``` to check if you have a container running ```openrobotics/o3de_curiosity_docker``` running. A useful command that stops and removes all containers is ```docker rm $(docker ps -aq)```
+
+We will need three terminals. Lets call them Termianls A, B and C respectively.
+
+* Terminal A, run the following
 
 ```bash
 xhost +local:docker
 ./run.sh
 ```
 
-* Open another terminal and find the 
+* Terminal B, find container id and then attach it
+
+```bash
+docker ps -a
+docker exec -it <container_id> /bin/bash
+```
+
+* Terminal C, attach it to container
+
+```bash
+docker exec -it <container_id> /bin/bash
+```
+
+You should see the following setup
+
+<img src="docs/terminals.png" alt="description" style="float: left; width: 200; height: auto;" />
+
+* In Terminal A, launch the O3DE app: ```./build/linux/bin/profile/Editor```
+
+* Hit the play button (right arrow symbol top right)
+
+* **IMOPRTANT** in Game mode, the mouse dissappears. To get it back , hit ```Ctrl+TAB``` keys.
+
+* In Terminal B and C, first source DEMO_WS: ```source $DEMO_DIR/install/setup.bash```
+* In Terminal B: ```ros2 launch mars_rover mars_rover_o3de.launch```
+* In Terminal C: ```ros2 service call /move_forward std_srvs/srv/Empty```
+
+If you did eveything correclty, you should see the following
+
+<img src="docs/output.png" alt="description" style="float: left; width: 200; height: auto;" />
+
+Now the rover will move forward.

o3de_mars_rover/run.sh

@@ -16,18 +16,7 @@ CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")"
 # docker run --rm -it --name $CONTAINER_NAME  --network host \
 #     -e DISPLAY -e TERM   -e QT_X11_NO_MITSHM=1 $IMG_NAME
 
-# Will automatically remove the container once exi
-# docker run --rm -it \
-# --name=$CONTAINER_NAME \
-# --runtime=nvidia \
-# --network host \
-# -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
-# -e DISPLAY=${DISPLAY} \
-# -e NVIDIA_VISIBLE_DEVICES=all \
-# -e NVIDIA_DRIVER_CAPABILITIES=all \
-# -e DISPLAY -e TERM  -e QT_X11_NO_MITSHM=1 $IMG_NAME
-
-
+# Will automatically remove the container once exited
 docker run --rm -it --name $CONTAINER_NAME \
 --runtime nvidia \
 --network host \