Welcome to ROSMASTER M1 repository

Docker Startup Script

1. Check Bound Devices

ROSMASTER M1 has three bound devices. After booting successfully, enter the following command to check if the binding is successful.

• Checking the ROS expansion board binding status

ll /dev/myserial

If the following image appears, the binding is successful.

• Checking the radar binding status

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ll /dev/rplidar

If the following image appears, the binding is successful.

• Checking the AI ​​voice broadcast module binding status

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ll /dev/myspeech

If the following image appears, the binding is successful.

If you purchased a depth camera, you can also enter the following command to check whether the depth camera is successfully bound.

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ll /dev/as_camera

If the following image appears, the binding is successful.

2. Check the Script Definition

On the Raspberry Pi or Jetson Nano host, enter the following command to open the Docker script.

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sudo gedit run_humble.sh

Press Enter to see the script contents.

Below is a brief description of each line of the Docker script. Its main function is to open a Docker container and map the hardware devices connected to the Raspberry Pi to the Docker container. This allows Docker to freely access peripherals connected to the Raspberry Pi's interface.

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#!/bin/bash
xhost + # Allow the container to access the host's X11 display service, thus providing visualization capabilities for Docker.
docker run -it \
--net=host \ # Container uses the host's network stack directly.
--privileged \ # Access all hardware devices.
--env="DISPLAY" \ # Pass the visualization environment variable.
--env="QT_X11_NO_MITSHM=1" \
--security-opt apparmor:unconfined \ # Disable security policy when visualization is disabled.
-e PULSE_SERVER=unix:/run/user/1000/pulse/native \ # PulseAudio service path
-e ALSA_CARD=0 \
-v /run/user/1000/pulse:/run/user/1000/pulse:ro \ # Mount the audio socket read-only
-v ~/.config/pulse:/root/.config/pulse:ro \
-v /etc/localtime:/etc/localtime:ro \ # Synchronize local time
-v /etc/timezone:/etc/timezone:ro \
-v /tem/.X11-unix:/tmp/.X11-unix \
-v ~/share:/root/share \ # Shared folder between the host and Docker
--device /dev/snd \ # Access the host sound card
-v /dev/input:/dev/input \ #Mount all input devices (mouse/keyboard)
-v /dev/myserial:/dev/myserial \ #Mount the ROS expansion board
-v /dev/myspeech:/dev/myspeech \ #Mount the AI module serial port
-v /dev/rplidar:/dev/rplidar \ #Mount the radar
 Docker Submission and Multi-Terminal Access
Docker-Vscode environment construction