development.md

Development details

Scripts

build docker images

• see ./prebuild-docker.sh -h for options
• see ./build-docker.sh -h for options

Manage docker images script

A utility script to tag, pull, push, list, or rmi (remove) images. (not support l4t, jetson image yet, see jetson)

• see ./manage-docker-image.sh -h for options

Docker-compose files

see docker for details of each images. Docker images manage required software/library to build and run CaBot packages. Most of CaBot packages will not be built as docker image layers.

So, most ROS1/2 CaBot workspaces should be built after building/pulling docker images. docker-compose files mount home directory (docker/home) and required CaBot packages into the corresponding workspace to keep built binaries on the host file systems.

launch.sh will select the proper docker-compose file to launch.

File	Real/Simulation	Processor	Realsense	Description
docker-compose-common	-	x86_64	0-3	Common declaration
docker-compose	simulation	x86_64 + NVIDIA GPU	1	For development
docker-compose-nuc	simulation	x86_64	0	For development
docker-compose-rs3	simulation	x86_64 + NVIDIA GPU	3	For development
docker-compose-jetson	simulation	aarch64	1	For development
docker-compose-production	real	x86_64 + NVIDIA GPU	1
docker-compose-nuc-production	real	x86_64	0
docker-compose-rs3-production	real	x86_64 + NVIDIA GPU	3	3 Realsense
docker-compose-jetson-prod	real	aarch64	1	Including built workspace
docker-compose-mapping	real	x86_64	0
docker-compose-server	both	x86_64	-	local map service server

Other directories

Package	Description
cabot_debug	debug utilities for logging output of command to check CPU/GPU status
cabot_sites	place cabot site packages
doc	documentation
docker	docker context and home directory to be mounted
host_ws	workspace for ROS running on host machine (mainly for debug)
script	launch scripts for docker containers, utilities to plot from bag file
tools	install/setup scripts