Modifying week 5 entry

docs/_posts/2024-11-10-Week5.md

@@ -36,12 +36,21 @@ docker run --rm -it -p 7164:7164 -p 6000:6000 -p 1108:1108 -p 7163:7163 -v /tmp/
 ```
 
 This command is a bit different than the usual way you can use the docker run command to run the container. The .X11-unix stuff and DISPLAY are used to let you run gazebo inside the container and see the GUI in your desktop. The other -v argument copies de contents of the directory with my model and world and paste it inside the path indicated by (path inside docker), that way we can use the model and world inside the container.
-After that, we run this command on another terminal.
+After that, we run these commands on another terminal.
 
 ```bash
+xhost +local:root
 docker exec (container id) bash
 ```
 
-To run a bash terminal inside the container. Now we can run gazebo inside the container with the world I created to see the results. We can run another bash terminal and use rviz to see the sensor output.
+We only have to execute the first command once, since it's another step to let us visualize the Gazebo GUI from the docker in our desktop.
+To run a bash terminal inside the container. Now we can run gazebo inside the container with the world I created to see the results. To do that, go to the directory created inside the container with the model and run this:
 
-<img src="../assets/img/lidar_autoparking.png" alt="Lidar Autoparking">
+```bash
+export GAZEBO_MODEL_PATH=:$(pwd):/home/ws/src/CustomRobots/ackermann_cars/models:/home/ws/src/CustomRobots/autoparking/models:/home/ws/src/CustomRobots/car_junction/models
+```
+
+This lets gazebo find all the models needed to run the world.
+We can run another bash terminal and use rviz to see the sensor output. Make sure to have lidar_link as the Fixed Frame.
+
+# <img src="lidar_autoparking.png" alt="Lidar Autoparking">