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KalanaRatnayakeKalanaRatnayake
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updated compose files, moved rviz and other gui tools into workspace and added documentation
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‎.gitignore‎

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code-server/
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code-server/config/
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code-server/data/
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workspace/
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rviz-config/
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.env

‎README.md‎

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# Algorithmic Robots World
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This repo provides multiple containers to work with Turtlebot4 Robots in [DiscoveryServer Mode](https://turtlebot.github.io/turtlebot4-user-manual/setup/discovery_server.html).
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This repo provides multiple containers to work with,
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This pacakge provides and utilizes following containers
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- **Turtlebot4-Discovery**
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Provides the discovery service for the simulation
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- **Turtlebot4-Rviz**
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Provides rviz tools to interact with both simulation and physical robots
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- **Turtlebot4-workspace**
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Provides a web browser based workspace that can be used to test code on both simulation and physical robots
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- **Algorithmic-Robots-Mars-Surface-Simulation**
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Provides the Unreal based simulation environment
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- **Algorithmic-Robots-Labs**
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Provides a Jupyter notebooks based workspace to explore mathematical concepts surrounding robotics
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- Turtlebot4 Physical robots
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- Simulation environment depicting a Mars surface
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- Jupyter Notebook exploring basic concepts
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[More information on Containers and Usage](./docs/containers.md)
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## Install Docker
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git clone https://github.com/CollaborativeRoboticsLab/algorithmic-robots-world.git
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```
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Required environmental variable need to be in a `.env` file. An `example.env` file is available. Rename that file to `.env` and update the values as required.
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## Configure the parameters
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Required environmental variables need to be in a `.env` file. An `example.env` file is available. Rename that file to `.env` and update the values as required.
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[More information on Parameters](./docs/parameters.md)
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## Start Simulation environment
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```bash
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cd algorithmic-robots-world
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docker compose pull
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docker compose -f compose-simulation.yaml pull
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xhost +local:root
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docker compose up
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docker compose -f compose-simulation.yaml up
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```
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## Start Physical robot environment

‎code-server/config/config.yaml‎

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bind-addr: 127.0.0.1:8080
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auth: password
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password: 85eb5023a7466516860a5b42
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password: bfb3ded6daf3862327550287
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cert: false

‎code-server/data/coder-logs/code-server-stderr.log‎

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File not found: /usr/lib/code-server/lib/vscode/out/vsda.js
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a socket was left hanging
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a socket was left hanging
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[13:23:54] [127.0.0.1][5cdff902][ExtensionHostConnection] Unknown reconnection token (never seen).
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[13:23:54] [127.0.0.1][c8500158][ManagementConnection] Unknown reconnection token (never seen).
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File not found: /usr/lib/code-server/lib/vscode/out/vsda.js
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[15:12:01] [127.0.0.1][588699b5][ManagementConnection] Unknown reconnection token (never seen).
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[15:12:02] [127.0.0.1][626fcb12][ExtensionHostConnection] Unknown reconnection token (never seen).
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File not found: /usr/lib/code-server/lib/vscode/out/vsda_bg.wasm
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File not found: /usr/lib/code-server/lib/vscode/out/vsda.js
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a socket was left hanging
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a socket was left hanging

‎code-server/data/coder-logs/code-server-stdout.log‎

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[2026-03-18T13:08:26.420Z] info code-server 4.91.0 fb3e3e1546d571e9973e86482bcd925c1918ec27
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[2026-03-18T13:08:26.421Z] info Using user-data-dir /root/.local/share/code-server
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[2026-03-18T13:08:26.434Z] info Using config file /root/.config/code-server/config.yaml
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[2026-03-18T13:08:26.434Z] info HTTP server listening on http://0.0.0.0:8080/
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[2026-03-18T13:08:26.434Z] info - Authentication is disabled
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[2026-03-18T13:08:26.434Z] info - Not serving HTTPS
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[2026-03-18T13:08:26.434Z] info Session server listening on /root/.local/share/code-server/code-server-ipc.sock
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[13:10:02]
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[13:10:02] Extension host agent started.
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[13:10:02] Started initializing default profile extensions in extensions installation folder. file:///root/.local/share/code-server/extensions
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[13:10:02] Completed initializing default profile extensions in extensions installation folder. file:///root/.local/share/code-server/extensions
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[13:10:03] [127.0.0.1][c8500158][ManagementConnection] New connection established.
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[13:10:04] [127.0.0.1][5cdff902][ExtensionHostConnection] New connection established.
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[13:10:04] [127.0.0.1][5cdff902][ExtensionHostConnection] <64> Launched Extension Host Process.
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[2026-03-18T13:23:43.725Z] info code-server 4.91.0 fb3e3e1546d571e9973e86482bcd925c1918ec27
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[2026-03-18T13:23:43.726Z] info Using user-data-dir /root/.local/share/code-server
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[2026-03-18T13:23:43.736Z] info Using config file /root/.config/code-server/config.yaml
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[2026-03-18T13:23:43.736Z] info HTTP server listening on http://0.0.0.0:8080/
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[2026-03-18T13:23:43.736Z] info - Authentication is disabled
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[2026-03-18T13:23:43.736Z] info - Not serving HTTPS
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[2026-03-18T13:23:43.736Z] info Session server listening on /root/.local/share/code-server/code-server-ipc.sock
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[13:23:52]
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[13:23:52] Extension host agent started.
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[13:24:12] [127.0.0.1][3803bc89][ManagementConnection] New connection established.
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[13:24:13] [127.0.0.1][08dcb9c5][ExtensionHostConnection] New connection established.
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[13:24:13] [127.0.0.1][08dcb9c5][ExtensionHostConnection] <53> Launched Extension Host Process.
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[2026-03-18T14:04:38.028Z] info code-server 4.91.0 fb3e3e1546d571e9973e86482bcd925c1918ec27
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[2026-03-18T14:04:38.029Z] info Using user-data-dir /root/.local/share/code-server
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[2026-03-18T14:04:38.038Z] info Using config file /root/.config/code-server/config.yaml
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[2026-03-18T14:04:38.039Z] info HTTP server listening on http://0.0.0.0:8080/
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[2026-03-18T14:04:38.039Z] info - Authentication is disabled
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[2026-03-18T14:04:38.039Z] info - Not serving HTTPS
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[2026-03-18T14:04:38.039Z] info Session server listening on /root/.local/share/code-server/code-server-ipc.sock
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[2026-03-18T14:10:38.301Z] info code-server 4.91.0 fb3e3e1546d571e9973e86482bcd925c1918ec27
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[2026-03-18T14:10:38.302Z] info Using user-data-dir /root/.local/share/code-server
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[2026-03-18T14:10:38.313Z] info Using config file /root/.config/code-server/config.yaml
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[2026-03-18T14:10:38.313Z] info HTTP server listening on http://0.0.0.0:8080/
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[2026-03-18T14:10:38.313Z] info - Authentication is disabled
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[2026-03-18T14:10:38.313Z] info - Not serving HTTPS
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[2026-03-18T14:10:38.314Z] info Session server listening on /root/.local/share/code-server/code-server-ipc.sock
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[2026-03-18T14:14:21.589Z] info code-server 4.91.0 fb3e3e1546d571e9973e86482bcd925c1918ec27
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[2026-03-18T14:14:21.590Z] info Using user-data-dir /root/.local/share/code-server
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[2026-03-18T14:14:21.600Z] info Using config file /root/.config/code-server/config.yaml
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[2026-03-18T14:14:21.600Z] info HTTP server listening on http://0.0.0.0:8080/
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[2026-03-18T14:14:21.600Z] info - Authentication is disabled
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[2026-03-18T14:14:21.600Z] info - Not serving HTTPS
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[2026-03-18T14:14:21.600Z] info Session server listening on /root/.local/share/code-server/code-server-ipc.sock
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[2026-03-23T15:05:53.896Z] info code-server 4.91.0 fb3e3e1546d571e9973e86482bcd925c1918ec27
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[2026-03-23T15:05:53.897Z] info Using user-data-dir /root/.local/share/code-server
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[2026-03-23T15:05:53.906Z] info Using config file /root/.config/code-server/config.yaml
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[2026-03-23T15:05:53.906Z] info HTTP server listening on http://0.0.0.0:8080/
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[2026-03-23T15:05:53.906Z] info - Authentication is disabled
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[2026-03-23T15:05:53.906Z] info - Not serving HTTPS
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[2026-03-23T15:05:53.906Z] info Session server listening on /root/.local/share/code-server/code-server-ipc.sock
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[2026-03-23T15:06:28.242Z] info code-server 4.91.0 fb3e3e1546d571e9973e86482bcd925c1918ec27
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[2026-03-23T15:06:28.243Z] info Using user-data-dir /root/.local/share/code-server
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[2026-03-23T15:06:28.253Z] info Using config file /root/.config/code-server/config.yaml
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[2026-03-23T15:06:28.253Z] info HTTP server listening on http://0.0.0.0:8080/
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[2026-03-23T15:06:28.253Z] info - Authentication is disabled
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[2026-03-23T15:06:28.253Z] info - Not serving HTTPS
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[2026-03-23T15:06:28.253Z] info Session server listening on /root/.local/share/code-server/code-server-ipc.sock
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[15:06:41]
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[15:06:41] Extension host agent started.
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[15:06:41] Started initializing default profile extensions in extensions installation folder. file:///root/.local/share/code-server/extensions
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[15:06:41] Completed initializing default profile extensions in extensions installation folder. file:///root/.local/share/code-server/extensions
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[15:06:42] [127.0.0.1][588699b5][ManagementConnection] New connection established.
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[15:06:42] [127.0.0.1][626fcb12][ExtensionHostConnection] New connection established.
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[15:06:43] [127.0.0.1][626fcb12][ExtensionHostConnection] <53> Launched Extension Host Process.
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[2026-03-23T15:11:56.179Z] info code-server 4.91.0 fb3e3e1546d571e9973e86482bcd925c1918ec27
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[2026-03-23T15:11:56.180Z] info Using user-data-dir /root/.local/share/code-server
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[2026-03-23T15:11:56.190Z] info Using config file /root/.config/code-server/config.yaml
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[2026-03-23T15:11:56.190Z] info HTTP server listening on http://0.0.0.0:8080/
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[2026-03-23T15:11:56.190Z] info - Authentication is disabled
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[2026-03-23T15:11:56.190Z] info - Not serving HTTPS
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[2026-03-23T15:11:56.190Z] info Session server listening on /root/.local/share/code-server/code-server-ipc.sock
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[15:11:59]
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[15:11:59] Extension host agent started.
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[15:12:05] [127.0.0.1][ba3f522f][ManagementConnection] New connection established.
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[15:12:05] [127.0.0.1][cf7a09e9][ExtensionHostConnection] New connection established.
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[15:12:05] [127.0.0.1][cf7a09e9][ExtensionHostConnection] <53> Launched Extension Host Process.

‎compose-physical.yaml‎

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ar-workspace:
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image: ghcr.io/collaborativeroboticslab/turtlebot4-workspace:jazzy
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environment:
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- PYTHONUNBUFFERED=1 # GUI related
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- DISPLAY # GUI related
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- QT_X11_NO_MITSHM=1 # GUI related
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- NVIDIA_VISIBLE_DEVICES=all # GUI related
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- NVIDIA_DRIVER_CAPABILITIES=all # GUI related
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- ROS_DOMAIN_ID=${ROBOT_ROS_DOMAIN_ID:-0}
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- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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- ROS_DISCOVERY_SERVER=${ROBOT_ROS_DISCOVERY_SERVER:-127.0.0.1:11811}
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volumes:
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- ./workspace:/workspace:rw
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- ./code-server/config:/root/.config/code-server:rw
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- ./code-server/data:/root/.local/share/code-server:rw
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ar-rviz:
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image: ghcr.io/collaborativeroboticslab/turtlebot4-rviz:jazzy
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command: ["ros2", "launch", "turtlebot4_viz", "view_navigation.launch.py", "use_sim_time:=true"]
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environment:
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- PYTHONUNBUFFERED=1 # GUI related
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- DISPLAY # GUI related
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- QT_X11_NO_MITSHM=1 # GUI related
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- NVIDIA_VISIBLE_DEVICES=all # GUI related
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- NVIDIA_DRIVER_CAPABILITIES=all # GUI related
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- ROS_DOMAIN_ID=${ROBOT_ROS_DOMAIN_ID:-0}
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- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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- ROS_DISCOVERY_SERVER=${ROBOT_ROS_DISCOVERY_SERVER:-127.0.0.1:11811}
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- ROS_SUPER_CLIENT=1
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restart: unless-stopped
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privileged: true
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ipc: host
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volumes:
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- /tmp/.X11-unix:/tmp/.X11-unix:rw # GUI related
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- ./code-server/data:/root/.local/share/code-server:rw

compose.yaml renamed to compose-simulation.yaml

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- QT_X11_NO_MITSHM=1 # GUI related
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- NVIDIA_VISIBLE_DEVICES=all # GUI related
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- NVIDIA_DRIVER_CAPABILITIES=all # GUI related
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- ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
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- ROS_DOMAIN_ID=${SIM_ROS_DOMAIN_ID:-0}
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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restart: unless-stopped
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privileged: true
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network_mode: host
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volumes:
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- /tmp/.X11-unix:/tmp/.X11-unix:rw # GUI related
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ar-rviz:
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image: ghcr.io/collaborativeroboticslab/rviz:jazzy
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command: ["rviz2"]
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ar-workspace:
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image: ghcr.io/collaborativeroboticslab/turtlebot4-workspace:jazzy
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environment:
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- PYTHONUNBUFFERED=1 # GUI related
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- DISPLAY # GUI related
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- QT_X11_NO_MITSHM=1 # GUI related
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- NVIDIA_VISIBLE_DEVICES=all # GUI related
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- NVIDIA_DRIVER_CAPABILITIES=all # GUI related
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- ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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restart: unless-stopped
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privileged: true
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network_mode: host
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volumes:
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- /tmp/.X11-unix:/tmp/.X11-unix:rw # GUI related
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- /rviz-config:/root/.config/rviz:rw
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ar-workspace:
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image: ghcr.io/collaborativeroboticslab/turtlebot4-workspace:jazzy
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environment:
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- ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
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- ROS_DOMAIN_ID=${SIM_ROS_DOMAIN_ID:-0}
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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restart: unless-stopped
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tty: true

‎docs/containers.md‎

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# Containers and Usage
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This repo uses following containers
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- **Turtlebot4-workspace**
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- link [ghcr.io/collaborativeroboticslab/turtlebot4-workspace:jazzy](ghcr.io/collaborativeroboticslab/turtlebot4-workspace:jazzy)
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- Provides a web browser based workspace that can be used to test code on both simulation and physical robots. Contains ROS2 Jazzy Desktop with GUI tools for debugging. Use this to do development work
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- **Algorithmic-Robots-Mars-Surface**
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- link [ghcr.io/collaborativeroboticslab/algorithmic-robots-mars-surface:jazzy](ghcr.io/collaborativeroboticslab/algorithmic-robots-mars-surface:jazzy)
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- Provides the Unreal based simulation environment to work with when Physical robots are inaccessible.
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- **Algorithmic-Robots-Labs**
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- link [ghcr.io/collaborativeroboticslab/algorithmic-robots-labs:latest](ghcr.io/collaborativeroboticslab/algorithmic-robots-labs:latest)
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- Provides a Jupyter notebooks based workspace to explore mathematical concepts surrounding robotics
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## Simulation System
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This system can be started with `compose-simulation.yaml` file. This starts a simulation environment and a browser based vs-code environment for experiments using following containers
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- `Algorithmic-Robots-Mars-Surface` container
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- `Turtlebot4-workspace` container
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Update the following environment variables to isolate the ROS environment
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```bash
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SIM_ROS_DOMAIN_ID=0
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```
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Use the following commands to start the system
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```bash
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cd algorithmic-robots-world
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docker compose -f compose-simulation.yaml pull
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xhost +local:root
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docker compose -f compose-simulation.yaml up
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```
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## Start Physical robot environment
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This system can be started with `compose-physical.yaml` file. This starts a browser based vs-code environment for experiments and connects with the Discovery server in the Turtlebot4 robot. It uses following containers
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- `Turtlebot4-workspace` container
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Update the following environment variables to isolate the ROS environment
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```bash
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ROBOT_ROS_DOMAIN_ID=0
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ROBOT_ROS_DISCOVERY_SERVER=10.42.0.1:11811
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```
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Use the following commands to start the system.
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```bash
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cd algorithmic-robots-world
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docker compose -f compose-physical.yaml pull
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xhost +local:root
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docker compose -f compose-physical.yaml up
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```
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## Start Algorithmic Robotics Labs
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This system can be started with `compose-jupyter.yaml` file. This starts a browser based jupyter environment for tutorial activities. It uses following container
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- `Algorithmic-Robots-Labs` container
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```bash
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cd algorithmic-robots-world
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docker compose -f compose-jupyter.yaml pull
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xhost +local:root
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docker compose -f compose-jupyter.yaml up
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```
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‎docs/parameters.md‎

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# Parameters
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## SIM_ROS_DOMAIN_ID (default : 0)
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This parameter helps to isolate the simulation environment from other laptops and similar environments in the same network. If the simulation shows unexpected behaviours and movements, this could be because there is another system with same SIM_ROS_DOMAIN_ID. Make sure to keep this unique.
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## ROBOT_ROS_DOMAIN_ID (default : 0)
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This parameter helps to isolate the robot and laptop environment from other laptops and similar robots in the same network. If the robot shows unexpected behaviours and movements, this could be because there is another system with same ROBOT_ROS_DOMAIN_ID. Make sure to keep this unique.
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## ROBOT_ROS_DISCOVERY_SERVER=10.42.0.1:11811
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This parameter indicates where the ros2 fastdds discovery server is. In the context of these labs, the fastdds discovery server lives in each robot. When you pick a robot, find the IP address of that robot and update this parameter. Keep the port as 11811.

‎example.env‎

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ROS_DOMAIN_ID=0
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ROBOT_ROS_DOMAIN_ID=10
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SIM_ROS_DOMAIN_ID=0
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ROBOT_ROS_DOMAIN_ID=0
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ROBOT_ROS_DISCOVERY_SERVER=10.42.0.1:11811

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