Update docker-compose.yaml

docker-compose.yaml

@@ -74,74 +74,42 @@ services:
   robot_state_publisher:
     extends: overlay
     command: >
-      ros2 launch bot_mini_bringup rsp.launch.py
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    network_mode: host
-    ipc: host
+      ros2 launch cps_loki_bringup rsp.launch.py
 
   # Controller
   controller:
     extends: overlay 
     command: >
-      ros2 launch bot_mini_bringup robot_controller.launch.py
+      ros2 launch cps_loki_bringup robot_controller.launch.py
     devices:
       - /dev/ttyUSB0:/dev/ttyUSB0
       - /dev/ttyACM0:/dev/ttyACM0
-    # Interactive shell
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    network_mode: host
-    ipc: host
-    # Needed to display graphical applications
-    privileged: true
     restart: unless-stopped
-
+    
   # teleop
   teleop:
     extends: overlay 
     command: >
-      ros2 launch bot_mini_bringup robot_joy_teleop.launch.py
+      ros2 launch cps_loki_bringup robot_joy_teleop.launch.py
     devices:
-      - /dev/input/js0:/dev/input/js0
-    # Interactive shell
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    network_mode: host
-    ipc: host
-    # Needed to display graphical applications
-    privileged: true
+      - /dev/input:/dev/input
     restart: unless-stopped
 
   # lidar
   lidar:
     extends: overlay
     command: >
-      ros2 launch cbot_mini_bringup robot_lidar.launch.py
+      ros2 launch cps_loki_bringup robot_lidar.launch.py
     devices:
       - /dev/ttyUSB0:/dev/ttyUSB0
-      - /dev/ttyUSB1:/dev/ttyUSB1
+      #- /dev/ttyUSB1:/dev/ttyUSB1
       - /dev/ttyACM0:/dev/ttyACM0
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    network_mode: host
-    ipc: host
 
   # mapping
   mapping:
     extends: overlay
     command: >
-      ros2 launch bot_mini_bringup robot_mapper.launch.py
-    # Interactive shell
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    network_mode: host
-    ipc: host
+      ros2 launch cps_loki_bringup robot_mapper.launch.py
 
   # navigation
   navigation:
@@ -151,31 +119,11 @@ services:
     #  map_subscribe_transient_local:=true
     command: >
       ros2 launch nav2_bringup bringup_launch.py slam:=True map:=/repo/map.yaml use_sim_time:=False use_composition:=True params_file:=/overlay_ws/src/bot_mini_bringup/config/nav2_params.yaml
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    network_mode: host
-    ipc: host
 
   # rviz2
   rviz2:
     extends: guis
     command: >
       rviz2
-    # Interactive shell
-    stdin_open: true
-    tty: true
-    # Networking and IPC for ROS 2
-    network_mode: host
-    ipc: host
     # Needed to display graphical applications
     privileged: true
-    environment:
-      # Allows graphical programs in the container.
-      - DISPLAY=${DISPLAY}
-      - QT_X11_NO_MITSHM=1
-      - NVIDIA_DRIVER_CAPABILITIES=all
-    volumes:
-      # Allows graphical programs in the container.
-      - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority