Pinky's Lighthouse

 After getting communication set up with the Raspberry Pi controller in this post, we are off to send and interpret sensor data with ROS2.

Cartographer is a good starting point. In my ROS2 docker container:
sudo apt install ros-$ROS_DISTRO-cartographer

It installs, but it looks like CARTOGRAPHER IS NOT SUPPORTED ON IRON...    I don't know why this package is available...

Moving on to nav2.

From inside the container, I can't launch GUIs. My working container must be committed to create a new image and re-run with the following:

sudo docker run -it \

    --privileged \

    -p 8888:8888/udp \

    --name c5cont \

    --env DISPLAY=$DISPLAY \

    --env QT_X11_NO_MITSHM=1 \

    --volume /tmp/.X11-unix:/tmp/.X11-unix \

    --cpus="3" \

    c5 /bin/bash

Then create a run file that has the following:

#/bin/bash

sudo docker start <container name>

xhost +local:docker

sudo docker exec -it <container name> /bin/bash

Also look into creating a dockerfile:

I'll have to reformat the data sent from the lighthouse IMU and laser distance sensor to mimic a lidar array.