Mowgli in Docker

This container runs OpenMower Mowgli software locally or remotely.

For an example of wiring mowgli on a yardforce mower, take a look at this diagram.

Local

Setup

Install docker with this command:

curl https://get.docker.com | sh

Create a file in udev config /etc/udev/rules.d/50-mowgli.rules with this content:

SUBSYSTEM=="tty" ATTRS{product}=="Mowgli", SYMLINK+="mowgli"
# simpleRTK USB
SUBSYSTEM=="tty" ATTRS{idVendor}=="1546" ATTRS{idProduct}=="01a9", SYMLINK+="gps"
# ESP USB CDC - RTK1010Board
SUBSYSTEM=="tty" ATTRS{idVendor}=="303a" ATTRS{idProduct}=="4001", SYMLINK+="gps"

Clone this repository

git clone https://github.com/cedbossneo/mowgli-docker

The script suppose that your mowgli device is on /dev/mowgli and your gps on /dev/gps

⚠ WARNING: This branch works only with the new Mowgli firmware https://github.com/cedbossneo/Mowgli that allows Mowgli to runs with vanilla OpenMower without mowgli_proxy or mowgli_blade.

Edit the .env file to set ROS_IP to you host machine ip address.

Finally:

docker-compose up -d

The Mowgli GUI is hosted on port 4006 of your PI.

The OpenMower web app is hosted on port 4005 of your PI.

Remote BY Serial Redirection

Setup

Mower PI

Be sure you don't run ROS along with ser2net in order to avoid conflicts

apt-get install -y ser2net
systemctl enable ser2net

Create a file in udev config /etc/udev/rules.d/50-mowgli.rules with this content

SUBSYSTEM=="tty" ATTRS{product}=="Mowgli", SYMLINK+="mowgli"
# simpleRTK USB
SUBSYSTEM=="tty" ATTRS{idVendor}=="1546" ATTRS{idProduct}=="01a9", SYMLINK+="gps"
# ESP USB CDC - RTK1010Board
SUBSYSTEM=="tty" ATTRS{idVendor}=="303a" ATTRS{idProduct}=="4001", SYMLINK+="gps"

Edit /etc/ser2net.conf and add theses lines on the bottom, change devices according to your setup

# Mowgli
4001:raw:600:/dev/mowgli:115200 NONE 1STOPBIT 8DATABITS
# GPS
4002:raw:600:/dev/gps:460800 NONE 1STOPBIT 8DATABITS

Finally reboot your PI

Remote Machine

• Clone this repository somewhere on your system.
• Install Docker (curl -sSL https://get.docker.com | sh)
• Edit your Mowgli config in the config directory
• Put your map in the ros directory.

Edit the .env file to set your MOWER_IP to the ip of the mower AND the ROS_IP to the ip of the ros machine

Finally, launch:

docker-compose -f docker-compose.ser2net.yaml up

or, if you want to have it in deamon mode

docker-compose -f docker-compose.ser2net.yaml up -d

That's it !

Remote BY Splitting OpenMower and ROSSERIAL

Setup

Remote Host

Install docker with this command:

curl https://get.docker.com | sh

Clone this repository

git clone https://github.com/cedbossneo/mowgli-docker

The script suppose that your mowgli device is on /dev/mowgli and your gps on /dev/gps

⚠ WARNING: You must have the same mower_config on both pi and remote computer

Edit the .env file to set your MOWER_IP to the ip of the mower AND the ROS_IP to the ip of the ros machine

Finally:

docker-compose -f docker-compose.remote.host.yaml up -d

Mower PI

Install docker with this command :

curl https://get.docker.com | sh

Clone this repository

git clone https://github.com/cedbossneo/mowgli-docker

Edit the .env file to set your MOWER_IP to the ip of the mower AND the ROS_IP to the ip of the ros machine

The script suppose that your mowgli device is on /dev/mowgli and your gps on /dev/gps

⚠ WARNING: You must have the same mower_config on both pi and remote computer

Finally:

docker-compose -f docker-compose.remote.pi.yaml up -d

Usage

Buttons

You can use the scripts in ./utils directory to press home / start

Logs

docker-compose -f docker-compose.yaml logs -f openmower

RViz

ROS Ports are exposed to the host machine so you can easily access RViz by setting your ROS_MASTER_IP to the machine where your docker container runs.

Shutdown

docker-compose -f docker-compose.yaml stop