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Update docker-compose.yaml

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bjoernellens1 2023-11-20 08:49:07 +01:00 committed by GitHub
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docker-compose.yaml
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@ -74,74 +74,42 @@ services:
robot_state_publisher: robot_state_publisher:
extends: overlay extends: overlay
command: > command: >
ros2 launch bot_mini_bringup rsp.launch.py ros2 launch cps_loki_bringup rsp.launch.py
stdin_open: true
tty: true
# Networking and IPC for ROS 2
network_mode: host
ipc: host
# Controller # Controller
controller: controller:
extends: overlay extends: overlay
command: > command: >
ros2 launch bot_mini_bringup robot_controller.launch.py ros2 launch cps_loki_bringup robot_controller.launch.py
devices: devices:
- /dev/ttyUSB0:/dev/ttyUSB0 - /dev/ttyUSB0:/dev/ttyUSB0
- /dev/ttyACM0:/dev/ttyACM0 - /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 restart: unless-stopped
# teleop # teleop
teleop: teleop:
extends: overlay extends: overlay
command: > command: >
ros2 launch bot_mini_bringup robot_joy_teleop.launch.py ros2 launch cps_loki_bringup robot_joy_teleop.launch.py
devices: devices:
- /dev/input/js0:/dev/input/js0 - /dev/input:/dev/input
# 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 restart: unless-stopped
# lidar # lidar
lidar: lidar:
extends: overlay extends: overlay
command: > command: >
ros2 launch cbot_mini_bringup robot_lidar.launch.py ros2 launch cps_loki_bringup robot_lidar.launch.py
devices: devices:
- /dev/ttyUSB0:/dev/ttyUSB0 - /dev/ttyUSB0:/dev/ttyUSB0
- /dev/ttyUSB1:/dev/ttyUSB1 #- /dev/ttyUSB1:/dev/ttyUSB1
- /dev/ttyACM0:/dev/ttyACM0 - /dev/ttyACM0:/dev/ttyACM0
stdin_open: true
tty: true
# Networking and IPC for ROS 2
network_mode: host
ipc: host
# mapping # mapping
mapping: mapping:
extends: overlay extends: overlay
command: > command: >
ros2 launch bot_mini_bringup robot_mapper.launch.py ros2 launch cps_loki_bringup robot_mapper.launch.py
# Interactive shell
stdin_open: true
tty: true
# Networking and IPC for ROS 2
network_mode: host
ipc: host
# navigation # navigation
navigation: navigation:
@ -151,31 +119,11 @@ services:
# map_subscribe_transient_local:=true # map_subscribe_transient_local:=true
command: > 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 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
rviz2: rviz2:
extends: guis extends: guis
command: > command: >
rviz2 rviz2
# Interactive shell
stdin_open: true
tty: true
# Networking and IPC for ROS 2
network_mode: host
ipc: host
# Needed to display graphical applications # Needed to display graphical applications
privileged: true 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