Launching the GORM Rover

The GORM rover can be launched in two modes: development mode (for active development) and production mode (for deployment). This page covers the development mode. For production deployment, see the Deployment Guide.

Quick Start with Docker (Development Mode)

1. Navigate to the Rover Software Directory: Open a terminal and navigate to the directory where the rover software (on the rover) is located.

   cd /workspace/rover-software/docker
   

2. Run the Docker Container and Attach to It: Start the Docker container that contains the rover software in development mode and attach to it.

   ./run.sh rover --dev
   
   # Attach to the running Docker container
   docker exec -it rover-software-dev bash
   

3. Build the ROS2 Packages: Inside the Docker container, build the ROS2 packages to ensure everything is set up correctly.

   colcon build
   source install/setup.bash
   

4. Launch the Rover Software: Finally, launch the rover software using the provided launch file.

   ros2 launch gorm_bringup bringup_teleop.launch.py
   

5. BEFORE YOU START DEVELOPMENT: Make sure to set up your SSH keys and Git configuration as described in the Development Setup Guide.

Quick Start (Production Mode)

1. Navigate to the Rover Software Directory: Open a terminal and navigate to the directory where the rover software (on the rover) is located.

   cd /workspace/rover-software/docker
   

2. Run the Production Deployment: Start the production deployment which runs continuously and automatically restarts if it crashes or the system reboots.

   ./run.sh rover --prod
   # or with docker-compose:
   docker-compose up -d rover-deploy
   

Useful docker inspection commands

```bash
# List running containers
docker ps
# List all containers (including stopped)
docker ps -a
# View logs of a specific container
docker logs -f <container_name_or_id>
# Access a running container's shell
docker exec -it <container_name_or_id> bash
```