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robosoft-ai · Aug 14, 2023 · e733014 · e733014
1 parent a94e9e7
commit e733014
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Showing 23 changed files with 80 additions and 61 deletions.
diff --git a/...ibrary/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_absolute_rotate.cpp b/...ibrary/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_absolute_rotate.cpp
@@ -82,6 +82,7 @@ void CbAbsoluteRotate::onEntry()
     auto pathname = this->getCurrentState()->getName() + " - " + getName();
     odomTracker_->pushPath(pathname);
     odomTracker_->setStartPoint(p->toPoseStampedMsg());
+    odomTracker_->setCurrentMotionGoal(goal.pose);
     odomTracker_->setWorkingMode(odom_tracker::WorkingMode::RECORD_PATH);
   }
 

diff --git a/...brary/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_navigate_forward.cpp b/...brary/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_navigate_forward.cpp
@@ -68,15 +68,13 @@ void CbNavigateForward::onEntry()
   auto p = nav2zClient_->getComponent<Pose>();
   auto referenceFrame = p->getReferenceFrame();
   auto currentPoseMsg = p->toPoseMsg();
-  tf2::Transform currentPose;
-  tf2::fromMsg(currentPoseMsg, currentPose);
 
   RCLCPP_INFO_STREAM(
     getLogger(), "[" << getName() << "]"
                      << "current pose: " << currentPoseMsg);
 
   // force global orientation if it is requested
-  if (options.forwardSpeed)
+  if (options.forceInitialOrientation)
   {
     currentPoseMsg.orientation = *(options.forceInitialOrientation);
     RCLCPP_WARN_STREAM(
@@ -85,6 +83,9 @@ void CbNavigateForward::onEntry()
           << "Forcing initial straight motion orientation: " << currentPoseMsg.orientation);
   }
 
+  tf2::Transform currentPose;
+  tf2::fromMsg(currentPoseMsg, currentPose);
+
   tf2::Transform targetPose;
   if (goalPose_)
   {

diff --git a/smacc2_sm_reference_library/sm_dancebot_artgallery_ue/docker/openvpn_file_run.sh b/smacc2_sm_reference_library/sm_dancebot_artgallery_ue/docker/openvpn_file_run.sh
@@ -4,4 +4,4 @@ xhost +
 DIR="$(dirname "$(realpath "$0")")"
 ROOT_DIR=`realpath $DIR/../../../..`
 
-sudo nvidia-docker run --net host -it -e DISPLAY  -e QT_X11_NO_MITSHM=1 --privileged --name smacc_ue -v $ROOT_DIR/SMACC2:/home/ros2_ws/src/SMACC2 -v $ROOT_DIR/SMACC2_RTA:/home/ros2_ws/src/SMACC2_RTA  -v /dev/dri:/dev/dri -v /tmp/.X11-unix:/tmp/.X11-unix ue_editor_rclue:humble /bin/bash
+sudo nvidia-docker run --net host -it -e DISPLAY  -e QT_X11_NO_MITSHM=1 --privileged --name ue_editor_rclue -v $ROOT_DIR/SMACC2:/home/ros2_ws/src/SMACC2 -v $ROOT_DIR/SMACC2_RTA:/home/ros2_ws/src/SMACC2_RTA  -v /dev/dri:/dev/dri -v /tmp/.X11-unix:/tmp/.X11-unix ue_editor_rclue:humble /bin/bash
diff --git a/...ference_library/sm_dancebot_artgallery_ue/docker/run_docker_container_bash_development.sh b/...ference_library/sm_dancebot_artgallery_ue/docker/run_docker_container_bash_development.sh
@@ -5,4 +5,4 @@ DIR="$(dirname "$(realpath "$0")")"
 ROOT_DIR=`realpath $DIR/../../../..`
 DRIVER=$(apt list --installed | grep nvidia-driver)
 
-sudo nvidia-docker run --net host --ipc=host -it -e DISPLAY  -e QT_X11_NO_MITSHM=1 --privileged --name smacc_ue -v $ROOT_DIR/ue_project_1:/home/ros2_ws/src/ue_project_1 -v $ROOT_DIR/ue_project_2:/home/ros2_ws/src/ue_project_2 -v $ROOT_DIR/SMACC2:/home/ros2_ws/src/SMACC2 -v $ROOT_DIR/UE-Plugins:/home/ros2_ws/src/ue_project_1/Plugins/RapyutaSimulationPlugins -v $ROOT_DIR/rclUE:/home/ros2_ws/src/ue_project_1/Plugins/rclUE -v /dev/dri:/dev/dri -v /tmp/.X11-unix:/tmp/.X11-unix ue_editor_rclue:humble /bin/bash  -c "./nvidia-driver-check.sh '$DRIVER' && bash"
+sudo nvidia-docker run --net host --ipc=host -it -e DISPLAY  -e QT_X11_NO_MITSHM=1 --privileged --name ue_editor_rclue -v $ROOT_DIR/ue_project_1:/home/ros2_ws/src/ue_project_1 -v $ROOT_DIR/ue_project_2:/home/ros2_ws/src/ue_project_2 -v $ROOT_DIR/SMACC2:/home/ros2_ws/src/SMACC2 -v $ROOT_DIR/UE-Plugins:/home/ros2_ws/src/ue_project_1/Plugins/RapyutaSimulationPlugins -v $ROOT_DIR/rclUE:/home/ros2_ws/src/ue_project_1/Plugins/rclUE -v $ROOT_DIR/UE-Plugins:/home/ros2_ws/src/ue_project_2/Plugins/RapyutaSimulationPlugins -v $ROOT_DIR/rclUE:/home/ros2_ws/src/ue_project_2/Plugins/rclUE -v /dev/dri:/dev/dri -v /tmp/.X11-unix:/tmp/.X11-unix ue_editor_rclue:humble /bin/bash  -c "./nvidia-driver-check.sh '$DRIVER' && bash"
diff --git a/...sm_dancebot_artgallery_ue/include/sm_dancebot_artgallery_ue/sm_dancebot_artgallery_ue.hpp b/...sm_dancebot_artgallery_ue/include/sm_dancebot_artgallery_ue/sm_dancebot_artgallery_ue.hpp
@@ -28,6 +28,7 @@
 
 #include <nav2z_client/client_behaviors.hpp>
 #include <nav2z_client/nav2z_client.hpp>
+#include <nav2z_client/components/odom_tracker/cp_odom_tracker.hpp>
 
 // #include <sm_dancebot_artgallery_ue/clients/nav2z_client/client_behaviors/cb_navigate_next_waypoint.hpp>
 #include <sm_dancebot_artgallery_ue/clients/cl_nav2z/client_behaviors/cb_position_control_free_space.hpp>
@@ -47,7 +48,6 @@
 #include <sr_conditional/sr_conditional.hpp>
 #include <sr_event_countdown/sr_event_countdown.hpp>
 
-
 // ORTHOGONALS
 #include <sm_dancebot_artgallery_ue/orthogonals/or_navigation.hpp>
 #include <sm_dancebot_artgallery_ue/orthogonals/or_obstacle_perception.hpp>

diff --git a/...y_ue/include/sm_dancebot_artgallery_ue/states/f_pattern_states/sti_fpattern_forward_1.hpp b/...y_ue/include/sm_dancebot_artgallery_ue/states/f_pattern_states/sti_fpattern_forward_1.hpp
@@ -48,9 +48,18 @@ struct StiFPatternForward1 : public smacc2::SmaccState<StiFPatternForward1<SS>,
 
   void runtimeConfigure()
   {
-    // auto &superstate = TSti::template context<SS>();
-    // RCLCPP_INFO(this->getLogger(),"[SsrFpattern] Fpattern rotate: SS current iteration: %d/%d",
-    // superstate.iteration_count, SS::total_iterations());
+    cl_nav2z::odom_tracker::CpOdomTracker * odomTracker;
+    this->requiresComponent(odomTracker);
+    auto* cbForwardMotion = this->template getOrthogonal<OrNavigation>()->template getClientBehavior<CbNavigateForward>();
+    auto previousGoal = odomTracker->getCurrentMotionGoal();
+
+    if (previousGoal)
+    {
+      cbForwardMotion->options.forceInitialOrientation = previousGoal->pose.orientation;
+      RCLCPP_ERROR_STREAM(this->getLogger(), "Previous goal orientation: " << previousGoal->pose.orientation.x << ", " << previousGoal->pose.orientation.y << ", " << previousGoal->pose.orientation.z << ", " << previousGoal->pose.orientation.w);   
+    };
+
+    RCLCPP_ERROR_STREAM(this->getLogger(), "..");
   }
 };
 }  // namespace f_pattern_states

diff --git a/...ry_ue/include/sm_dancebot_artgallery_ue/states/f_pattern_states/sti_fpattern_rotate_1.hpp b/...ry_ue/include/sm_dancebot_artgallery_ue/states/f_pattern_states/sti_fpattern_rotate_1.hpp
@@ -42,19 +42,22 @@ struct StiFPatternRotate1 : smacc2::SmaccState<StiFPatternRotate1<SS>, SS>
   static void staticConfigure()
   {
     float angle = 0;
-    double offset = -1.5;  // for a better behaving
+    double offset = 0; //-1.5;  // for a better behaving
 
     if (SS::direction() == TDirection::LEFT)
       angle = 90 + offset;
     else
       angle = -90 - offset;
-
+    
     //TSti::template configure_orthogonal<OrNavigation, CbRotate>(angle);
     TSti::template configure_orthogonal<OrNavigation, CbAbsoluteRotate>(
       angle);  // absolute aligned to the y-axis
   }
 
-  void runtimeConfigure() {}
+  void runtimeConfigure() 
+  {
+
+  }
 };
 }  // namespace f_pattern_states
 }  // namespace sm_dancebot_artgallery_ue
diff --git a/...ry_ue/include/sm_dancebot_artgallery_ue/states/f_pattern_states/sti_fpattern_rotate_2.hpp b/...ry_ue/include/sm_dancebot_artgallery_ue/states/f_pattern_states/sti_fpattern_rotate_2.hpp
@@ -41,7 +41,7 @@ struct StiFPatternRotate2 : smacc2::SmaccState<StiFPatternRotate2<SS>, SS>
   // STATE FUNCTIONS
   static void staticConfigure()
   {
-    double offset = 1.5;  // for a better behaving
+    double offset = 0;//1.5;  // for a better behaving
     // float angle = 0;
 
     // if (SS::direction() == TDirection::LEFT)

diff --git a/...allery_ue/include/sm_dancebot_artgallery_ue/states/st_navigate_artgallery_waypoints.x.hpp b/...allery_ue/include/sm_dancebot_artgallery_ue/states/st_navigate_artgallery_waypoints.x.hpp
@@ -42,7 +42,7 @@ struct StNavigateArtGalleryWaypointsX : smacc2::SmaccState<StNavigateArtGalleryW
   typedef mpl::list<
     Transition<cl_nav2z::EvWaypointFinal, StFinalState, SUCCESS>,
     // Transition<EvWaypoint2<ClNav2Z, OrNavigation>, SS5::SsSPattern1, SUCCESS>,
-    Transition<EvWaypoint1<ClNav2Z, OrNavigation>, SS4::SsFPattern1, SUCCESS>,
+    Transition<EvWaypoint0<ClNav2Z, OrNavigation>, SS4::SsFPattern1, SUCCESS>,
     Transition<EvWaypoint3<ClNav2Z, OrNavigation>, SS1::SsRadialPattern1, SUCCESS>,
     Transition<EvCbSuccess<CbNavigateNextWaypoint, OrNavigation>, StNavigateArtGalleryWaypointsX, SUCCESS>,
     Transition<EvCbFailure<CbNavigateNextWaypoint, OrNavigation>, StNavigateArtGalleryWaypointsX, ABORT>, 

diff --git a/...m_dancebot_artgallery_ue/include/sm_dancebot_artgallery_ue/superstates/ss_f_pattern_1.hpp b/...m_dancebot_artgallery_ue/include/sm_dancebot_artgallery_ue/superstates/ss_f_pattern_1.hpp
@@ -66,10 +66,12 @@ struct SsFPattern1
   static constexpr float pitch_lenght_meters() { return 0.75; }
   static constexpr int total_iterations() { return 8; }
   static constexpr TDirection direction() { return TDirection::RIGHT; }
-
+  
   // superstate state variables
   int iteration_count;
 
+  double last_goal_angle_rad;
+
   // STATE FUNCTIONS
   static void staticConfigure()
   {

diff --git a/smacc2_sm_reference_library/sm_dancebot_artgallery_ue/params/nav2z_client/nav2_params.yaml b/smacc2_sm_reference_library/sm_dancebot_artgallery_ue/params/nav2z_client/nav2_params.yaml
@@ -120,12 +120,12 @@ controller_server:
       stateful: True
     backward_goal_checker:
       plugin: "nav2_controller::SimpleGoalChecker"
-      xy_goal_tolerance: 1.3 #0.9
-      yaw_goal_tolerance: 0.1 #0.05
+      xy_goal_tolerance: 0.25 #0.9
+      yaw_goal_tolerance: 0.05 #0.05
       stateful: True
     forward_goal_checker:
       plugin: "nav2_controller::SimpleGoalChecker"
-      xy_goal_tolerance: 1.3 #0.09
+      xy_goal_tolerance: 0.08 #0.09
       yaw_goal_tolerance: 0.1 #0.05
       stateful: True
     absolute_rotate_goal_checker:
@@ -135,8 +135,8 @@ controller_server:
       stateful: True
     undo_path_backwards_goal_checker:
       plugin: "nav2_controller::SimpleGoalChecker"
-      xy_goal_tolerance: 0.04 # 4 cm
-      yaw_goal_tolerance: 0.14
+      xy_goal_tolerance: 0.02 # 4 cm
+      yaw_goal_tolerance: 0.34
       stateful: True
 
     # DWB parameters
@@ -186,27 +186,28 @@ controller_server:
       plugin: "backward_local_planner::BackwardLocalPlanner"
       transform_tolerance: 0.5
       k_rho: -1.4 # linear distance to the goal gain, default = -1.0 (related with carrot distance)
-      k_alpha: -0.1 #-0.1
-      k_betta: -0.1 # -1.0
-      carrot_distance: 0.3 #meters default 0.5
+      k_alpha: -16.4 #-0.1
+      k_betta: -0.01 # -1.0
+      carrot_distance: 0.8 #meters default 0.5
       carrot_angular_distance: 0.3 # no constraint, max 3.1416
       pure_spinning_straight_line_mode: true
       max_linear_x_speed: 0.25
+      max_angular_z_speed: 0.4
     ForwardLocalPlanner:
       plugin: "cl_nav2z::forward_local_planner::ForwardLocalPlanner"
       transform_tolerance: 0.5
       k_rho: 2.5
-      k_alpha: -0.4
-      k_betta: -1.0
-      carrot_distance: 0.5 #meters
+      k_alpha: -2.4
+      k_betta: -0.1
+      carrot_distance: 0.8 #meters
       carrot_angular_distance: 0.5 # no constraint, max 3.1416
       max_linear_x_speed: 0.3
-      max_angular_z_speed: 0.2
+      max_angular_z_speed: 0.4
     PureSpinningLocalPlanner:
       plugin: "pure_spinning_local_planner::PureSpinningLocalPlanner"
       transform_tolerance: 0.5
-      k_betta: 10.0
-      max_angular_z_speed: 0.2
+      k_betta: 25.0
+      max_angular_z_speed: 0.3
       use_shortest_angular_distance: true
 
 

diff --git a/...eference_library/sm_dancebot_artgallery_ue/params/nav2z_client/waypoints_art_gallery.yaml b/...eference_library/sm_dancebot_artgallery_ue/params/nav2z_client/waypoints_art_gallery.yaml
@@ -60,15 +60,15 @@ waypoints:
   #     z: 0.0
   #     w: 1.0
   # POINT R8
-  - position:
-      x: -3.70
-      y: 26.70
-      z: 0.0
-    orientation:
-      x: 0.0
-      y: -0.0
-      z: 0.0
-      w: 1.0
+  # - position:
+  #     x: -3.70
+  #     y: 26.70
+  #     z: 0.0
+  #   orientation:
+  #     x: 0.0
+  #     y: -0.0
+  #     z: 0.0
+  #     w: 1.0
   # POINT R10
   - position:
       x: -8.0

diff --git a/smacc2_sm_reference_library/sm_dancebot_artgallery_ue/rviz/nav2_default_view.rviz b/smacc2_sm_reference_library/sm_dancebot_artgallery_ue/rviz/nav2_default_view.rviz
@@ -5,16 +5,18 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
+        - /Grid1
         - /TF1
         - /TF1/Frames1
         - /TF1/Tree1
         - /Global Planner1
         - /Global Planner1/Global Costmap1
         - /Controller1
         - /Odometry1
+        - /Odometry1/Shape1
         - /LaserScan1/Topic1
       Splitter Ratio: 0.5833333134651184
-    Tree Height: 865
+    Tree Height: 685
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -47,7 +49,7 @@ Visualization Manager:
         Y: 0
         Z: 0
       Plane: XY
-      Plane Cell Count: 10
+      Plane Cell Count: 100
       Reference Frame: <Fixed Frame>
       Value: true
     - Alpha: 1
@@ -558,8 +560,8 @@ Visualization Manager:
         Color: 255; 25; 0
         Head Length: 0
         Head Radius: 0
-        Shaft Length: 0.02800000086426735
-        Shaft Radius: 0.009999999776482582
+        Shaft Length: 0.03799999877810478
+        Shaft Radius: 0.019999999552965164
         Value: Arrow
       Topic:
         Depth: 5
@@ -609,7 +611,7 @@ Visualization Manager:
       Enabled: true
       Name: BackwardLocalPlannerGoalMarker
       Namespaces:
-        {}
+        my_namespace2: true
       Topic:
         Depth: 5
         Durability Policy: Volatile
@@ -633,7 +635,7 @@ Visualization Manager:
       Enabled: true
       Name: UndoGlobalPlannerMarkers
       Namespaces:
-        {}
+        my_namespace2: true
       Topic:
         Depth: 5
         Durability Policy: Volatile
@@ -768,7 +770,7 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Angle: -1.7249938249588013
+      Angle: -1.5699937343597412
       Class: rviz_default_plugins/TopDownOrtho
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
@@ -778,21 +780,21 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Scale: -175.2274627685547
+      Scale: -185.1104278564453
       Target Frame: base_link
       Value: TopDownOrtho (rviz_default_plugins)
-      X: -0.12203919142484665
-      Y: 0.4557923972606659
+      X: 0.5208465456962585
+      Y: 0.037297897040843964
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: true
-  Height: 1016
+  Height: 836
   Hide Left Dock: true
   Hide Right Dock: true
   Navigation 2:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000002860000039efc020000000bfb0000001200530065006c0065006300740069006f006e000000003d000000830000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003200000002da000001010000013900fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000002800fffffffb0000001e005200650061006c00730065006e0073006500430061006d0065007200610100000177000000fc0000000000000000000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000039d0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000286000002eafc020000000bfb0000001200530065006c0065006300740069006f006e000000003d000000830000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d000002ea000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003200000002da000001010000013900fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000002800fffffffb0000001e005200650061006c00730065006e0073006500430061006d0065007200610100000177000000fc0000000000000000000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000039d000002ea00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   RealsenseCamera:
     collapsed: false
   Selection:

diff --git a/smacc2_sm_reference_library/sm_dancebot_ue/docker/attach_docker_container.sh b/smacc2_sm_reference_library/sm_dancebot_ue/docker/attach_docker_container.sh
@@ -1 +1 @@
-sudo docker attach smacc_ue
+sudo docker attach ue_editor_rclue
diff --git a/smacc2_sm_reference_library/sm_dancebot_ue/docker/join_bash.sh b/smacc2_sm_reference_library/sm_dancebot_ue/docker/join_bash.sh
@@ -1 +1 @@
-sudo docker exec -it smacc_ue  /bin/bash
+sudo docker exec -it ue_editor_rclue  /bin/bash
diff --git a/smacc2_sm_reference_library/sm_dancebot_ue/docker/join_editor.sh b/smacc2_sm_reference_library/sm_dancebot_ue/docker/join_editor.sh
@@ -1 +1 @@
-sudo docker exec -it smacc_ue  ./run_editor_smacc.sh
+sudo docker exec -it ue_editor_rclue  ./run_editor_smacc.sh
diff --git a/smacc2_sm_reference_library/sm_dancebot_ue/docker/openvpn_file_run.sh b/smacc2_sm_reference_library/sm_dancebot_ue/docker/openvpn_file_run.sh
@@ -4,4 +4,4 @@ xhost +
 DIR="$(dirname "$(realpath "$0")")"
 ROOT_DIR=`realpath $DIR/../../../..`
 
-sudo nvidia-docker run --net host -it -e DISPLAY  -e QT_X11_NO_MITSHM=1 --privileged --name smacc_ue -v $ROOT_DIR/SMACC2:/home/ros2_ws/src/SMACC2 -v $ROOT_DIR/SMACC2_RTA:/home/ros2_ws/src/SMACC2_RTA  -v /dev/dri:/dev/dri -v /tmp/.X11-unix:/tmp/.X11-unix ue_editor_rclue:humble /bin/bash
+sudo nvidia-docker run --net host -it -e DISPLAY  -e QT_X11_NO_MITSHM=1 --privileged --name ue_editor_rclue -v $ROOT_DIR/SMACC2:/home/ros2_ws/src/SMACC2 -v $ROOT_DIR/SMACC2_RTA:/home/ros2_ws/src/SMACC2_RTA  -v /dev/dri:/dev/dri -v /tmp/.X11-unix:/tmp/.X11-unix ue_editor_rclue:humble /bin/bash
diff --git a/smacc2_sm_reference_library/sm_dancebot_ue/docker/remove_container.sh b/smacc2_sm_reference_library/sm_dancebot_ue/docker/remove_container.sh
@@ -1,2 +1,2 @@
-sudo docker stop smacc_ue
-sudo docker rm smacc_ue
+sudo docker stop ue_editor_rclue
+sudo docker rm ue_editor_rclue
diff --git a/smacc2_sm_reference_library/sm_dancebot_ue/docker/run_docker_container_bash.sh b/smacc2_sm_reference_library/sm_dancebot_ue/docker/run_docker_container_bash.sh
@@ -5,4 +5,4 @@ DIR="$(dirname "$(realpath "$0")")"
 ROOT_DIR=`realpath $DIR/../../../..`
 DRIVER=$(apt list --installed | grep nvidia-driver)
 
-sudo nvidia-docker run --net host -it -e DISPLAY  -e QT_X11_NO_MITSHM=1 --privileged --name smacc_ue -v /dev/dri:/dev/dri -v /tmp/.X11-unix:/tmp/.X11-unix ue_editor_rclue:humble /bin/bash  -c "./nvidia-driver-check.sh '$DRIVER' && bash"
+sudo nvidia-docker run --net host -it -e DISPLAY  -e QT_X11_NO_MITSHM=1 --privileged --name ue_editor_rclue -v /dev/dri:/dev/dri -v /tmp/.X11-unix:/tmp/.X11-unix ue_editor_rclue:humble /bin/bash  -c "./nvidia-driver-check.sh '$DRIVER' && bash"
diff --git a/smacc2_sm_reference_library/sm_dancebot_ue/docker/run_docker_container_bash_development.sh b/smacc2_sm_reference_library/sm_dancebot_ue/docker/run_docker_container_bash_development.sh
@@ -5,4 +5,4 @@ DIR="$(dirname "$(realpath "$0")")"
 ROOT_DIR=`realpath $DIR/../../../..`
 DRIVER=$(apt list --installed | grep nvidia-driver)
 
-sudo nvidia-docker run --net host --ipc=host -it -e DISPLAY  -e QT_X11_NO_MITSHM=1 --privileged --name smacc_ue -v $ROOT_DIR/ue_project_1:/home/ros2_ws/src/ue_project_1 -v $ROOT_DIR/SMACC2:/home/ros2_ws/src/SMACC2 -v $ROOT_DIR/UE-Plugins:/home/ros2_ws/src/ue_project_1/Plugins/RapyutaSimulationPlugins -v $ROOT_DIR/rclUE:/home/ros2_ws/src/ue_project_1/Plugins/rclUE -v /dev/dri:/dev/dri -v /tmp/.X11-unix:/tmp/.X11-unix ue_editor_rclue:humble /bin/bash  -c "./nvidia-driver-check.sh '$DRIVER' && bash"
+sudo nvidia-docker run --net host --ipc=host -it -e DISPLAY  -e QT_X11_NO_MITSHM=1 --privileged --name ue_editor_rclue -v $ROOT_DIR/ue_project_1:/home/ros2_ws/src/ue_project_1 -v $ROOT_DIR/SMACC2:/home/ros2_ws/src/SMACC2 -v $ROOT_DIR/UE-Plugins:/home/ros2_ws/src/ue_project_1/Plugins/RapyutaSimulationPlugins -v $ROOT_DIR/rclUE:/home/ros2_ws/src/ue_project_1/Plugins/rclUE -v /dev/dri:/dev/dri -v /tmp/.X11-unix:/tmp/.X11-unix ue_editor_rclue:humble /bin/bash  -c "./nvidia-driver-check.sh '$DRIVER' && bash"
diff --git a/smacc2_sm_reference_library/sm_dancebot_ue/docker/run_docker_container_editor.sh b/smacc2_sm_reference_library/sm_dancebot_ue/docker/run_docker_container_editor.sh
@@ -5,4 +5,4 @@ DIR="$(dirname "$(realpath "$0")")"
 ROOT_DIR=`realpath $DIR/../../../..`
 
 DRIVER=$(apt list --installed | grep nvidia-driver)
-sudo nvidia-docker run --net host -it -e DISPLAY  -e QT_X11_NO_MITSHM=1 --privileged --name smacc_ue -v $ROOT_DIR/ue_project_2:/home/ros2_ws/src/ue_project_2 -v $ROOT_DIR/ue_project_1:/home/ros2_ws/src/ue_project_1 -v $ROOT_DIR/SMACC2:/home/ros2_ws/src/SMACC2 -v $ROOT_DIR/UE-Plugins:/home/ros2_ws/src/turtlebot3-UE/Plugins/RapyutaSimulationPlugins  -v /dev/dri:/dev/dri -v /tmp/.X11-unix:/tmp/.X11-unix ue_editor_rclue:humble /bin/bash -c "./nvidia-driver-check.sh '$DRIVER' && ./run_editor_smacc.sh"
+sudo nvidia-docker run --net host -it -e DISPLAY  -e QT_X11_NO_MITSHM=1 --privileged --name ue_editor_rclue -v $ROOT_DIR/ue_project_2:/home/ros2_ws/src/ue_project_2 -v $ROOT_DIR/ue_project_1:/home/ros2_ws/src/ue_project_1 -v $ROOT_DIR/SMACC2:/home/ros2_ws/src/SMACC2 -v $ROOT_DIR/UE-Plugins:/home/ros2_ws/src/turtlebot3-UE/Plugins/RapyutaSimulationPlugins  -v /dev/dri:/dev/dri -v /tmp/.X11-unix:/tmp/.X11-unix ue_editor_rclue:humble /bin/bash -c "./nvidia-driver-check.sh '$DRIVER' && ./run_editor_smacc.sh"
diff --git a/smacc2_sm_reference_library/sm_dancebot_ue/docker/start_container.sh b/smacc2_sm_reference_library/sm_dancebot_ue/docker/start_container.sh
@@ -1 +1 @@
-sudo docker start smacc_ue
+sudo docker start ue_editor_rclue
diff --git a/smacc2_sm_reference_library/sm_dancebot_ue/docker/stop_container.sh b/smacc2_sm_reference_library/sm_dancebot_ue/docker/stop_container.sh
@@ -1 +1 @@
-sudo docker stop smacc_ue
+sudo docker stop ue_editor_rclue