This repo includes functionality for interfacing with Gemini over gRPC and publish sensor data over ROS such that it is available to other ROS nodes.

It is recommended to create a virtualenv and then install the requirements running pip install -r requirements.txt.

The easiest way to build the container is to copy the Docker file from ros_adapter/docker/Dockerfile to the same directory as the ros_adapter directory lies, which would look something like the following:

• my_workspace
  • Dockerfile
  • ros_adapter/
  • ...

Then run the following command: docker build -t ros_adapter ., which will pull and build all you need for the container.

For starting and running the container, run the following command: docker run -it --net=host --name ros_adapter ros_adapter

This will start the container and attach you to an interactive shell. Change into the gemini_ws directory and run: catkin_make followed by source devel/setup.bash. The last thing needed to run the server is to set the ip in the scripts/server.py and run roslaunch for the launch/launch_server.launch.

* Move most of the configuration into a script for increased automation