IRMA project

Inno Robot Module Application.

The web online service for remote managing a virtual robot.

The key elements of the platform are Gazebo simulator and ROS Melodic framework.

The Gazebo consists of two parts:

1. Server - without GUI. Gazebo 9.0

2. Client - web client GzWeb. The source code for GzWeb is located at the osrf/gzweb Bitbucket repository.

https://bitbucket.org/osrf/gzweb

The simulator is started by ROS in a docker container. There is a Dockerfiles in gzweb-node directory.

Dockerfiles:

• gzweb - the image includes WEB client for gzserver
• ros-melodic-gz-base - It is a base image with gzserver and ros-core melodic
• robo-node-ar601 - the image are built from ros-melodic-gz-base with code of a AR601
• robo-node-yefan - the image are built from ros-melodic-gz-base with code of a yefan

There are compose files to run containers:

• ar-compose.yaml - to run ar601 simulator
• yefan-compose.yaml - to run yefan simulator

Building and deploying a docker container

1. Clone project:

   git clone ssh://git@cordelianew.university.innopolis.ru:2222/robolab/IRMA.git 

2. Preparation

Build necessary images

example:

```bash
docker build -f gzweb -t gzweb:1.1 . 
```

It needs to edit compose files according to your environment.

3. RUN simulator

   docker-compose -f ar-compose.yaml up -d