baxter_docker

Authors: Alejandro (Alex) Bordallo, Emanuele De Peregin, Heramb Modugula (2025 - )

Overview

This repo implements a docker container to work with the Baxter.

Requirements

This repo does not require a ROS1 installation, everything is self-contained via Docker.

• Docker
• vcs: pip install vcstool2 (alternatively, in Linux sudo apt install vcstool)
• VSCode/Codium

Setup

1. Clone this repository

cd $HOME
mkdir workspaces
cd workspaces
git clone git@github.com/assistive-autonomy/baxter_docker

2. Import the package dependencies using vcs. Please note that the packages will live in the host system.

cd baxter_docker/src/
vcs import < sources.repos --recursive

3. Add Blurr IP and associated .local to host machine in /etc/hosts

4. Modify the static IP in blurr.env to match your local IP config

Running the ESF demos

We have a nice TMux interface that loads multiple terminals, runs the initial setup scripts and preloads the exact commands to run.

cd ~/workspaces/baxter_docker
./baxter_session.sh

Remember to stop the container when you are done and reset xhost permissions (this will be fixed in the future to run on tmux exit)

docker compose -f ./docker/docker-compose-gui.yaml --env-file ./docker/blurr.env down
xhost -local:docker