# warehouse_rb1_sim

**Repository Path**: arnozeng/warehouse_rb1_sim

## Basic Information

- **Project Name**: warehouse_rb1_sim
- **Description**: wwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwww
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-07-31
- **Last Updated**: 2026-07-31

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# RB1 Robot and Warehouse Simulation



## 1. Simulación

### 1.1. Configuración
```bash
# Descargar repositorio
mkdir -p ~/rb1_ws/src
cd ~/rb1_ws/src
git clone https://github.com/morg1207/warehouse_rb1_sim.git

# Actualizar dependencias
sudo apt update
cd ~/rb1_ws
rosdep init
rosdep update --rosdistro $ROS_DISTRO
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y

# Compilar
cd ~/rb1_ws
source /opt/ros/humble/setup.bash 
colcon build --symlink-install
```

### 1.2 Lanzar simulacón
Terminal 1 
```bash
cd ~/rb1_ws
source install/setup.bash
ros2 launch the_construct_office_gazebo warehouse_rb1_rviz.launch.xml
```
output gazebo

<img src="./images/gazebo.png" alt="rviz" width="400"/>  

output rviz

<img src="./images/rviz.png" alt="rviz" width="400"/>  


## 2. Docker
A Docker Compose setup for simulating the RB1 robot in Gazebo with ROS2 Humble.

### 2.1 Files Explained

- `docker-compose.yml`: The Docker Compose file that configures and runs the container.
- `Dockerfile`: The Dockerfile to build the Docker image.
- `build.sh`: Builds the Docker Compose setup.
- `run.sh`: Runs the container.
- `stop.sh`: Stops the container.

### 2.2 Steps to Run

Run the following commands:


#### 2.2.1 Install Docker

```sh
source docker_install.sh
```

#### 2.2.2 Build image

```sh
xhost +local:root
export DISPLAY

# Docker build  and run
cd 
mkdir dockers
cd ~/dockers
git clone git@github.com:morg1207/warehouse_rb1_sim.git
cd ~/dockers/warehouse_rb1_sim 
docker compose build 
```

#### 2.2.3 Run the container

```sh
cd ~/dockers/warehouse_rb1_sim 
docker compose up
```

#### 2.2.4 Stop the container

```sh
source scripts/stop.sh

```

#### 2.2.5 Reconstruir la imagen en el cache 

```sh
docker build -t warehouse_rb1_sim --build-arg CACHEBUST=$(date +%s) .

```

### Agradecimientos

Este repositorio se basa en una simulación proporcionada por [The Construct](https://www.theconstruct.ai/). Agradezco su trabajo y recursos educativos, que han sido fundamentales para el desarrollo de este repositorio.

<img src="./images/the_construct.png" alt="rviz" width="200"/>