Mole Graph-MSF Container

Overview

Start the Graph-MSF container from the host and keep it running in tmux, then (if requested) launch the mole_estimator inside the container.

Quick Start (tmux)

1. Run the helper script:

/home/lorenzo/.codex/skills/mole-graph-msf-container/scripts/start_graph_msf_container.sh [session] [window]

2. Attach to the session:

tmux attach -t <session>

3. Verify the container is running:

docker ps --format 'table {{.Names}}\t{{.Image}}\t{{.Status}}'

Start Without tmux (direct shell)

Use this when a one-off interactive container is fine.

bash -lc "source ~/.bashrc; moleworks_ros_graph_msf"

Launch the State Estimator (inside container, optional)

Use when the user asks to run the estimator from the Graph-MSF container.

source /opt/ros/jazzy/setup.bash
source /home/lorenzo/ros2_ws/install/setup.bash
ros2 launch mole_estimator mole_estimator.launch.py \
  config:=/home/lorenzo/ros2_ws/src/moleworks_ros/mole_estimator/config/mole_estimator_robot.yaml

Health Checks

ros2 topic list | egrep "graph_msf|/mole/state"
ros2 topic echo --once /mole/state
ros2 topic echo --once --qos-reliability best_effort /tf

Stop

• Exit the container shell, or run:

docker stop <container_name>

• If tmux was used:

tmux kill-session -t <session>