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Use the following commands to visualize the simulation using the Gazebo GUI tool:
- Connect to your container running the simulation application.
- Visualize your application by running the Gazebo Graphical User Interface (GUI)
# Enable access to X server to launch Gazebo from docker container
$ xhost +
# Check that the robot_app and sim_app containers are running. The command should list both containers
$ docker container ls
# Connect to the sim app container
$ docker exec -it sim_app bash
# Launch Gazebo from within the container
$ rosrun gazebo_ros gzclient
For more information, see the documentation on Running a sample application with ROS Melodic and Gazebo 9. (There is also separate documentation for ROS2 Foxy and Gazebo 11).
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Thank you very much! I have got the following two problems: