====== Setting up the docker environment ======

Start with downloading the EuRoC project archive from [[https://toychest.ai.uni-bremen.de/wiki/_media/tmp:euroc.tar.gz|here]]. Extract it in your home folder. 
  tar -xvf euroc.tar.gz
  
Create an alias for the dockuro script in your .bashrc
  echo "alias dockuro=~/euroc/euroc_launch/docker/dockuro" >> ~/.bashrc && . ~/.bashrc
  
Initialize your containers with:
  dockuro init
  
**NOTE:**
If you have an nvidia or ATI graphics card, create a new Docker image that has **exactly the same driver** installed as your system.
  cp ~/euroc/euroc_launch/docker/euroc-suturo-custom/Dockerfile.template ~/euroc/euroc_launch/docker/euroc-suturo-custom/Dockerfile
Modify the newly created Dockerfile so that it installs your drivers(examples can be found commented in the template). Build your new image(name **is important**):
  docker build -t suturo/euroc-suturo-custom .
Set a flag to signal the system the use of a custom docker image
  export EUROC_CUSTOM_CONT=true
  
Launch the docker container:
  dockuro
**All of the following commands are supposed to be executed within docker!!** 
Before you can start hacking, you need to compile the catkin workspace that comes with the docker image
  cd ~/catkin_ws
  catkin_make
  
To start the experiment run:
  /opt/euroc_c2s1/start_euroc_task_selector
In another terminal run dockuro again and start the simulator by running(copy paste both lines together):
  rosservice call /euroc_c2_task_selector/start_simulator "user_id: '' 
  scene_name: 'task1_v1'" 
  
Publish the joint states of the robot:
  roslaunch suturo_manipulation_moveit publish_joint_state.launch
Start a node to publish point clouds:
  roslaunch pointcloud_publisher run_pointcloud_publisher.launch
 
Use rviz to check the camera data and the tf tree. All set. Enjoy!