DCIST Master

This is the base image used for the DCIST robots at KR, for the Jackals to run ROS2-Jazzy on Ubuntu-24.04

TL;DR:

• It installs the dependencies required by many user packages (see dcist-master/Dockerfile).
• It copies the ws main dcist workspace and builds it.
• It provides helper scripts build.bash, run.bash and join.bash

Architectures

Three architectures are provided:

• kumarrobotics/dcist-master-jazzy-bare - x86_64 CPU: To run in CPU-only platforms, such as the Intel NUC for the high-altitude quads. Based on ubuntu Docker images.
• kumarrobotics/dcist-master-jazzy-nvda - x86_64 CUDA: To run in x86_64 GPU-accelerated platforms, such as the computers on the Jackals. Based on nvidia/cuda Docker images.
• kumarrobotics/dcist-master-jazzy-nvda - arm64 CUDA: To run in Nvidia Jetson platforms.

How to build and use?

git clone https://github.com/KumarRobotics/dcist_master_ros2.git
cd dcist_master_ros2 && git submodule update --init --recursive
./build.bash dcist-master-jazzy x86_64_nvda
./run.bash dcist-master-jazzy-nvda:latest

Notes on how to start up the Jackal

To launch the base hardware (no sensors), use the following commands:

ros2 launch jackal_robot bringup.launch.py
ros2 run twist_stamper twist_stamper --ros-args -r  cmd_vel_in:=/jackal_velocity_controller/cmd_vel_unstamped -r cmd_vel_out:=/jackal_velocity_controller/cmd_vel

Notes on how to start the realsense and ouster

To launch the camera and LIDAR, use the following commands:

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i
ros2 launch ouster_ros sensor.launch.xml sensor_hostname:=192.168.100.12 udp_dest:=192.168.100.1 viz:=false

To use ouster drivers with default QoS (needed for DLIO currently)

ros2 launch ouster_ros sensor.launch.xml sensor_hostname:=192.168.100.12 udp_dest:=192.168.100.1 viz:=false use_system_default_qos:=true