Vortex ASV software. Purpose built for competing in ASV competitions.
This project uses the docker-ros repository for building and managing Docker images. The docker-ros repository is included as a Git submodule and is configured to build images locally.
- Install Docker
To clone this repository with the docker-ros submodule, use the following command:
git clone --recurse-submodules https://github.com/vortexntnu/vortex-asv.gitAlternatively, if you have already cloned the repository, run the following command to initialize the submodule:
git submodule update --init --recursive- Run the following command from the root of this repository to build the Docker image, its called
asv-image:latest, and start a container:
./entrypoint.sh- The Docker container will start with the following configurations:
- The source code from this repository is mounted to
/docker-ros/ws/src/targetinside the container. This means any changes made locally will also be reflected inside the container, and any changes made inside the container will appear locally. - Any dependencies listed in
dependencies.repositorieswill be added to/docker-ros/ws/src/upstream. For instance, the repository vortex-msgs will be added to this directory but will not be mounted.
- The Docker container runs with the --network host option. This enables the container to see other ROS 2 topics and nodes on the host network. However, note that this functionality is not supported on macOS.
docker-ros will automatically detect the platform, but if you're encountering issues with Docker due to platform incompatibilities (like arm64 vs. amd64), follow these steps:
- Check Your Computers Architecture
- In
entrypoint.sh, uncomment and adjust the PLATFORM variable:
- For AMD64:
export PLATFORM="amd64"- For ARM64:
export PLATFORM="linux/arm64"- After adjusting the platform, rebuild the Docker image and run the container:
./entrypoint.sh