Wheel Slip Testing Dockerfile

[adlarkin]

Here's a Dockerfile that can be used to create an environment for testing the wheel slip PR. It builds dart, ignition-physics, and ignition-gazebo from source, and also builds the forked osrf/subt repo that has the wheel slip changes.

To build the image, run the following commands:

cd docker
./build.bash wheel_slip_test

Use docker/run.bash to start a container with this image:

cd docker
./run.bash wheel_slip_test

You can then start a simulator with a robot you want to test:

ign launch -v 4 cave_circuit.ign worldName:=cave_qual robotName1:=X1 robotConfig1:=<YOUR_ROBOT_CONFIG>

Then, drive the robot around manually using keyboard teleop:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py /cmd_vel:=/X1/cmd_vel

[adlarkin]

Closing this now that #569 has been merged.