Dora ROS

Setting up

Clone repo to get compose file:

git clone [email protected]:legokor/dora-ros.git
cd dora-ros

Or just download it:

wget https://github.com/legokor/dora-ros/raw/refs/heads/master/docker-compose.yml

Permission to access the LiDar:

sudo chmod 777 /dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0

Start container

docker-compose up -d

By default this starts everything.

Connect to container

docker exec -it dora-ros bash

Restart container

docker start dora-ros

Stop container

docker stop dora-ros

ROS commands

Stop lidar motor

ros2 service call /stop_motor std_srvs/srv/Empty {}

Run rviz on another machine

If you're running rviz in a Docker container you need to give it access to your X server:

xhost +local:

Running like this gives the container access to your X11 session and starts rviz:

docker run --rm -itv /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY --network host ghcr.io/legokor/dora-ros-rviz:latest

Move robot

ros2 topic pub -1 /dora/cmd_vel geometry_msgs/msg/Twist '{ linear: { x: 0, y: 0 }, angular: { z: 0 } }'