Topside Docker setup

Run these commands on the above-water laptop. This is the competition setup; it does not install or require HoloOcean.

Docker and Docker Compose must already be installed. Check:

docker --version
docker compose version

On Ubuntu, install Docker Engine and the Docker Compose plugin. Your user needs permission to run Docker; follow the Linux post-installation steps. If you add your user to the Docker group, log out and back in before continuing.

Start the container

From the 2026-27WaterCode repository root:

cd docker
bash setup.sh
bash enter.sh

This starts the leviathan container and opens a terminal inside it.

Build and launch topside

Inside the container:

source /opt/ros/humble/setup.bash
cd /home/ubuntu/2026-27WaterCode/fishROS_ws
colcon build --symlink-install --packages-select controller_node
source install/setup.bash
ros2 launch controller_node topside_combined_launch.py

Plug the gamepad into the laptop. Connect the laptop to the Jetson through the tether network. Start the Jetson hardware launch separately.

Stop the container

Press Ctrl+C to stop topside, then run exit. From the host repository root:

bash docker/stop.sh

For HoloOcean, use the separate simulation setup.