MuSHR simulation setup

Learn how to simulate the MuSHR Car.

This tutorial is for Linux or MacOS users only.

Table of contents

1. MuSHR simulation setup
   1. MuSHR Docker Container
      1. Installing Docker
      2. Installing MuSHR Docker Container
         1. Clone the MuSHR repository at catkin_ws/src
         2. Run the installation script
      3. Run the MuSHR Docker Container

MuSHR Docker Container

Installing Docker

First, install Docker and Docker Compose for your machine.

This tutorial does not apply on Jetson. Because some JetPack has Docker built in (Check your JetPack version), reinstalling it will cause problems. Please go to the race robot section.

If on Linux, follow the post install steps to make sure you can run Docker without root privileges.

Installing MuSHR Docker Container

Clone the MuSHR repository at catkin_ws/src

$ mkdir -p catkin_ws/src
$ cd catkin_ws/src
$ git clone --branch noetic https://github.com/prl-mushr/mushr.git

Run the installation script

$ ./mushr/mushr_utils/install/mushr_install.bash

It will prompt you with two questions.

• For running the MuSHR simulator, the answers should be no, no.
• For running the MuSHR racecar, when ask “Are you installing on robot and need all the sensor drivers? (y/n)” respond “y” so that the sensor drivers are installed.

You can edit code outsideor inside the docker container. Other files made inside the docker container will not persist unless you commit.

Run the MuSHR Docker Container

open a new terminal and run:

$ mushr_noetic

The first time running this command will take some time to download the Docker image. If the prefix switches to root, the installation was successful.

$ mushr_noetic will generate a new container, and if you want to use the same container, you can run $ docker exec -it [CONTAINER_ID] bash. View Container ID run $ docker ps.

In the same terminal (within the Docker container), build the MuSHR software stack. (First run or when there is an update.)

$ source .bashrc && cd catkin_ws && catkin build