Mule Robot

This repo consists of the ROS packages for the robot description and the control modules for simulating the robot.

The list of packages are as follows:

• mule_control: This package contains the control modules for the robot.
• mule_robot_description: This package contains the URDF description of the robot with stereo camera setup.
• mule_gazebo: This package contains the launch files for simulating the robot in Gazebo.
• mule_msgs: This package contains the custom messages for the robot.
• mule_stream: This package contains WebRTC video streaming and Arduino communication scripts.

Pull with Submodules

Make sure to pull submodules, run the following command in the terminal:

git submodule update --init --recursive

ROS1 on Mac with Docker

Since ROS1 is not natively supported on macOS, we use Docker for cross-platform compatibility.

Prerequisites

• Docker Desktop for Mac
• XQuartz (for GUI applications): brew install --cask xquartz

Quick Start

1. Start XQuartz and allow network connections:

xhost +localhost

2. Build and run with Docker Compose:

docker-compose up --build

Manual Docker Usage

Build the Docker image:

docker build -t mule_robot .

Run interactively:

docker run -it --rm \
  -e DISPLAY=host.docker.internal:0 \
  -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
  -v $(pwd):/catkin_ws/src/mule \
  -p 11311:11311 \
  mule_robot

Available Services

• mule_ros: ROS master node
• mule_gazebo: Gazebo simulation with warehouse environment and stereo cameras
• mule_stream: WebRTC video streaming and Arduino communication service (ports 8080, 8081)

Installation and Usage

To install the packages:

1. Clone the repository into your catkin workspace. 2- Inside the root of your catkin workspace, and run the following commands in the terminal:

catkin_make && source devel/setup.bash

3- Use the follwing launch file:

roslaunch mule_stream stream.launch

Dependencies

1- rosserial-python

sudo apt-get install ros-noetic-rosserial-python