Goals

• [x] Try the stochastic models risk assessment method
• [ ] Try to implement previous method in atlascar2 gazebo
• [x] Learn Docker and Docker-compose

Docker

Platform and set of tools that allows to create, deploy, and manage applications within lightweight, isolated containers. These containers package up everything an application needs to run, including the code, runtime, libraries, and dependencies, into a single, portable unit. A Container is built from a Docker Image which in turn can be generated from a Docker File.

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Basic commands

# Check all the containers & images in the system
docker ps 
docker images
# Download images
docker pull image-name
# Create a container
docker run -it image-name
# Stop a running cointainer
docker stop container-ID
# Conect to a container from other terminal
docker exec -it container-ID bash
# When using ROS through Docker in separate terminals 
source /opt/ros/$ROS-DISTRO/setup.bash 

Ros Images for Docker

Docker

Atlascar2 Gazebo Simulation

GitHub - lardemua/atlascar2: Core packages for the LAR DEMUA Atlas Project

• The simulation part of the altascar2 repository works well.
• Missing calibration.

Stochastic Models Risk Assessment method

GitHub - patilunmesh/collision_risk_estimation: Collision risk estimation using stochastic motion models

• There’s some issues on the Rviz frames but works well if the fixed frame has “//” before.
• Works for all the ROS Bags provided in the repository.