• Bender Nav2
  • Table of contents
  • Introduction
  • Requirements
  • Instalation
    • Steps to create the .netrc file
    • Image building
  • How to run

This proyect implements NAV2 stack in Bender, using docker containers.

Before running this proyect, you must install:

1. Docker

The rest of requirements are installed automatically when the docker image is built.

cd ~
git clone https://github.com/uchile-robotics/bender_bringup.git
cd bender_bringup
git checkout feat-jazzy

To prevent rate limit errors (HTTP 429) when running the rosdep command inside the Docker container, you need to authenticate requests to GitHub by creating a .netrc file.

1. Generate a GitHub Personal Access Token (PAT) with minimal public_repo permissions. You can follow this official guide to create the token: Creating a personal access token.
2. Create the .netrc file with the following content, replacing <your_github_token> with your generated token.

printf "machine raw.githubusercontent.com\nlogin GITHUB_TOKEN\npassword <your_github_token>" > ~/.docker-github-netrc
sudo chmod 400 ~/.docker-github-netrc

Now you will build the docker image

mkdir bender_jazzy && cd bender_jazzy
git clone https://github.com/uchile-robotics/bender_nav2.git
cd ~/bender_nav2/dockerfile/rosaria2
sudo docker compose build rosaria2_container

Then you must wait for the docker image to build. After that step, check if Bender's base is connected to your PC via USB (and the hokuyo)

cd dockerfile/rosaria2
sudo docker compose up -d --remove-orphans
sudo docker exec -it rosaria2_container /bin/bash

In the same terminal that you ran the last command, after connecting bender's base and lidar you must run:

colcon build --symlink-install
source install/setup.bash
ros2 launch bender_bringup bender_basic.launch.py