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laptop $ git clone https://github.com/duckietown/duckietown-cslam.git  
laptop $ cd duckietown-cslam/scripts

ROS_MASTER_HOSTNAME=watchtower22  
ROS_MASTER_IP=192.168.1.176

array=(watchtower22)

docker -H ${array[$index]}.local  run -d \
                                      --name cslam-acquisition \
                                      --restart always \
                                      --network=host \
                                      -e ACQ_DEVICE_MODE=live \
                                      -e ACQ_ROS_MASTER_URI_DEVICE=${array[$index]} \
                                      -e ACQ_ROS_MASTER_URI_DEVICE_IP=127.0.0.1 \
                                      -e ACQ_SERVER_MODE=live \
                                      -e ACQ_ROS_MASTER_URI_SERVER=${ROS_MASTER_HOSTNAME} \
                                      -e ACQ_ROS_MASTER_URI_SERVER_IP=${ROS_MASTER_IP} \
                                      -e ACQ_DEVICE_NAME=${array[$index]} \
                                      -e ACQ_BEAUTIFY=1 \
                                      -e ACQ_STATIONARY_ODOMETRY=0 \
                                      -e ACQ_ODOMETRY_UPDATE_RATE=0 \
                                      -e ACQ_POSES_UPDATE_RATE=15 \
                                      -e ACQ_TEST_STREAM=1 \
                                      -e ACQ_TOPIC_VELOCITY_TO_POSE=velocity_to_pose_node/pose \
                                      -e ACQ_TOPIC_RAW=camera_node/image/compressed \
                                      -e ACQ_APRILTAG_QUAD_DECIMATE=2.0 \
                                      duckietown/cslam-acquisition:autocharge || echo "ERROR: Starting cslam-acquisition on ${array[$index]} failed. Probably this Watchtower wasn't configured properly or we can't connect via the network."

laptop $ source watchtowers-setup.sh

...
[INFO/serverSideProcess] Published pose for tag 327 in sequence 10
[INFO/serverSideProcess] Published pose for tag 334 in sequence 10
[INFO/serverSideProcess] Published pose for tag 360 in sequence 10
[INFO/serverSideProcess] Published pose for tag 327 in sequence 11
...

laptop $ docker -H HOSTNAME.local run -it --net host --memory="800m" --memory-swap="1.8g" --privileged -v /data:/data --name charging_manager CONTAINTER_NAME

laptop $ git clone https://github.com/alifahriander/tcp_server.git
cd tcp_server/docker

laptop $ docker build --rm -f "Dockerfile" -t IMAGE_NAME  
laptop $ docker push IMAGE_NAME  
laptop $ laptop $docker -H HOSTNAME.local pull IMAGE_NAME  
laptop $ docker -H hostname.local run -it --net host --memory="800m" --memory-swap="1.8g" --privileged -v /data:/data --name CONTAINER_NAME IMAGE_NAME

laptop $ docker -H HOSTNAME.local run -it --net host --memory="800m" --memory-swap="1.8g" --privileged -v /data:/data --name charging_manager  anderalii/charging_manager:module2

laptop $ git clone https://github.com/alifahriander/tcp_client.git
cd tcp_server/docker

laptop $ docker build --rm -f "Dockerfile" -t IMAGE_NAME  
laptop $ docker push IMAGE_NAME  
laptop $ laptop $docker -H HOSTNAME.local pull IMAGE_NAME  
laptop $ docker -H hostname.local run -it --net host --memory="800m" --memory-swap="1.8g" --privileged -v /data:/data --name CONTAINER_NAME IMAGE_NAME

laptop $ docker -H HOSTNAME.local run -it --net host --memory="800m" --memory-swap="1.8g" --privileged -v /data:/data --name doorkeeper CONTAINTER_NAME