update

docker-compose.yaml

@@ -3,10 +3,12 @@ version: "3.9"
 services:
   # Base image containing dependencies.
   base:
-    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:base
+    image: ghcr.io/bjoernellens1/ros2-base:humble
     build:
       context: .
       dockerfile: docker/Dockerfile
+      tags:
+        - ghcr.io/bjoernellens1/ros2-base:humble
       args:
         ROS_DISTRO: humble
       target: base
@@ -14,7 +16,6 @@ services:
         platforms:
           - linux/arm64
           - linux/amd64
-
     # Interactive shell
     stdin_open: true
     tty: true
@@ -36,12 +37,12 @@ services:
   # Overlay image containing the project specific source code.
   overlay:
     extends: base
-    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
+    image: ghcr.io/bjoernellens1/cps_bot_mini_ws/bot:overlay
     build:
       context: .
       dockerfile: docker/Dockerfile
       tags:
-        - ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
+        - ghcr.io/bjoernellens1/cps_bot_mini_ws/bot:overlay
       target: overlay
       x-bake:
         platforms:
@@ -53,18 +54,17 @@ services:
   # Additional dependencies for GUI applications
   guis:
     extends: overlay
-    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
+    image: ghcr.io/bjoernellens1/cps_bot_mini_ws/bot:guis
     build:
       context: .
       dockerfile: docker/Dockerfile
       tags:
-        - ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
+        - ghcr.io/bjoernellens1/cps_bot_mini_ws/bot:guis
       target: guis
       x-bake:
         platforms:
           - linux/arm64
           - linux/amd64
-    #entrypoint: /bin/bash
     command: >
       /bin/bash
 
@@ -72,7 +72,7 @@ services:
   robot_state_publisher:
     extends: overlay
     command: >
-      ros2 launch cps_rmp220_support rsp.launch.py --ros-args -r __ns:=/probeNamespace 
+      ros2 launch bot_mini_bringup rsp.launch.py
     stdin_open: true
     tty: true
     # Networking and IPC for ROS 2
@@ -83,11 +83,10 @@ services:
   controller:
     extends: overlay 
     command: >
-      ros2 launch cps_rmp220_support robot_controller.launch.py __ns:=/probeNamespace 
+      ros2 launch bot_mini_bringup robot_controller.launch.py
     devices:
       - /dev/ttyUSB0:/dev/ttyUSB0
       - /dev/ttyACM0:/dev/ttyACM0
-      - /dev/input/js0:/dev/input/js0
     # Interactive shell
     stdin_open: true
     tty: true
@@ -96,17 +95,13 @@ services:
     ipc: host
     # Needed to display graphical applications
     privileged: true
-    # depends_on:
-    #   - robot_state_publisher
 
   # teleop
   teleop:
     extends: overlay 
     command: >
-      ros2 launch cps_rmp220_support robot_joystick.launch.py 
+      ros2 launch bot_mini_bringup robot_joy_teleop.launch.py
     devices:
-      - /dev/ttyUSB0:/dev/ttyUSB0
-      - /dev/ttyACM0:/dev/ttyACM0
       - /dev/input/js0:/dev/input/js0
     # Interactive shell
     stdin_open: true
@@ -121,20 +116,22 @@ services:
   lidar:
     extends: overlay
     command: >
-      ros2 launch cps_rmp220_support robot_lidar.launch.py
+      ros2 launch cbot_mini_bringup robot_lidar.launch.py
+    devices:
+      - /dev/ttyUSB0:/dev/ttyUSB0
+      - /dev/ttyUSB1:/dev/ttyUSB1
+      - /dev/ttyACM0:/dev/ttyACM0
     stdin_open: true
     tty: true
     # Networking and IPC for ROS 2
     network_mode: host
     ipc: host
-    depends_on:
-      - robot_state_publisher
 
   # mapping
   mapping:
     extends: overlay
     command: >
-      ros2 launch cps_rmp220_support robot_mapping.launch.py
+      ros2 launch bot_mini_bringup robot_mapper.launch.py
     # Interactive shell
     stdin_open: true
     tty: true
@@ -146,30 +143,17 @@ services:
   navigation:
     extends: overlay
     command: >
-      ros2 launch cps_rmp220_support robot_navigation.launch.py
+      ros2 launch cbot_mini_bringup robot_navigation.launch.py
       map_subscribe_transient_local:=true
     stdin_open: true
     tty: true
     # Networking and IPC for ROS 2
     network_mode: host
     ipc: host
-  
-  # bash
-  bash:
-    extends: overlay
-    command: >
-      /bin/bash
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    network_mode: host
-    ipc: host
 
   # rviz2
   rviz2:
     extends: guis
-    # command: >
-    #   ros2 launch cps_rmp220_support robot_rviz2.launch.py
     command: >
       rviz2
     # Interactive shell

docker/Dockerfile

@@ -86,4 +86,4 @@ RUN source /${UNDERLAY_WS}/install/setup.bash \
 # Set up the entrypoint
 ENTRYPOINT [ "/entrypoint.sh" ]
 
-LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/ros2_rmp
+LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/cps_bot_mini_ws

overlay.repos

@@ -0,0 +1,33 @@
+repositories:  
+  
+    cps_rmp220_support:
+        type: git
+        url: https://github.com/bjoernellens1/cps_rmp220_support.git
+        version: main
+
+    rmp220_teleop:
+        type: git
+        url: https://github.com/bjoernellens1/rmp220_teleop.git
+        version: main
+
+    cam_openCV:
+        type: git
+        url: https://github.com/bjoernellens1/ros2_cam_openCV.git
+        version: main
+
+    bot_mini_teleop:
+        type: git
+        url: https://github.com/bjoernellens1/rmp220_teleop
+        version: bot_mini
+
+    bot_mini_description:
+        type: git
+        url: https://github.com/bjoernellens1/bot_mini_description
+
+    cam_openCV:
+        type: git
+        url: https://github.com/bjoernellens1/ros2_cam_openCV
+
+    bot_mini_bringup:
+        type: git
+        url: https://github.com/bjoernellens1/bot_mini_bringup