Work on minimal dockers

README.md

@@ -19,28 +19,83 @@ export WORLD_ORIGIN_LON=16.6827607783
 export WORLD_ORIGIN_ELEVATION=29.8
 ```
 
-## Linux host machine with ROS insalled on host machine.
+The scren file are in: /home/tompe/docker/waraps/screen
 
-Using docker for gazebo and lrs stuff.
+## Start System Using Only Dockers but use a local ROS Core
 
 ### Start a ros core:
 ```bash
 roscore
 ```
+
+Add location granso to the parameter server.
 ```bash
-basedji roslaunch lrs_launch location_granso.launch ns:=/dji0
+wdb roslaunch lrs_launch location_granso.launch ns:=/dji0
 ```
 
-### Start gazebo:
+### Start gazebo using docker:
 ```bash
 gazebo roslaunch lrs_wara_gazebo gazebo.launch
 ```
 
-### Load dji model:
+### Load dji model using docker:
 ```bash
 gazebo roslaunch lrs_wara_gazebo dji_to_gazebo.launch name:=dji0 with_laser:=true x:=0
 ```
 
+### Start /op0 using a screen:
+```bash
+env NS=/op0 screen -c waraps/screen/screen_op
+```
+
+### Start /dji0 simulation using a screen:
+```bash
+env NS=/op0 screen -c waraps/screen/screen_djisim
+```
+
+
+### Basic Simulator
+```bash
+base_dji roslaunch lrs_dji_sim sim.launch dynamics:=true mpc:=true inair:=true ns:=/dji0 basic:=false gazebo:=true
+```
+
+### Create a LRS DJI 
+Add
+```bash
+dji_system roslaunch lrs_launch lrsdji.launch publish_pose:=false ns:=/dji0
+```
+
+### Create a WDB LRS DJI 
+Add
+```bash
+wdb roslaunch lrs_launch wdb.launch vehicle:=dji ns:=/dji0
+```
+
+### Create TST Factory for Execution Trees
+Add
+```
+tst roslaunch lrs_launch tst_part ns:=/dji0
+```
+
+### Create Executors for DJI
+Add
+```bash
+exec_dji roslaunch lrs_launch exec_part.launch ns:=/dji0 vehicle:=dji
+```
+
+### Create Needed Operator
+
+```bash
+wdb roslaunch lrs_launch wdb.launch vehicle:=op ns:=/op0
+```
+
+```bash
+tst roslaunch lrs_launch tst_part ns:=/op0
+```
+
+```bash
+exec_op roslaunch lrs_launch exec_part.launch ns:=/op0 vehicle:=op
+```
 
 
 ## Virtual Machine Ubuntu 18.04
@@ -176,10 +231,10 @@ WORK IN PROGRESS!
 roslaunch lrs_launch location_granso.launch ns:=/dji0
 ```
 
-### Scrits to tun docker containers (and pull)
+### Scripts to start docker containers (and pull)
 
 - base_dji
-- dji
+- dji_system
 - wdb 
 
 ### Dji Simulator with MPC Trajectory Contoller
@@ -203,7 +258,7 @@ base_dji roslaunch lrs_dji_sim sim.launch dynamics:=true mpc:=true inair:=true n
 ### Create a LRS DJI 
 Add
 ```bash
-dji roslaunch lrs_launch lrsdji.launch publish_pose:=false ns:=/dji0
+dji_system roslaunch lrs_launch lrsdji.launch publish_pose:=false ns:=/dji0
 ```
 
 ### Create a WDB LRS DJI 
@@ -215,7 +270,7 @@ wdb roslaunch lrs_launch wdb.launch vehicle:=dji ns:=/dji0
 ### Create TST Factory for Execution Trees
 Add
 ```
-tst roslaunch lrs_launch tst_part ns:=/dji0
+tst roslaunch lrs_launch tst_part.launch ns:=/dji0
 ```
 
 ### Create Executors for DJI
@@ -231,7 +286,7 @@ wdb roslaunch lrs_launch wdb.launch vehicle:=op ns:=/op0
 ```
 
 ```bash
-tst roslaunch lrs_launch tst_part ns:=/op0
+tst roslaunch lrs_launch tst_part.launch ns:=/op0
 ```
 
 ```bash