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Björn Ellensohn 2023-07-25 12:10:23 +02:00
parent 1b7451b3b5
commit 0576eeb34a
1 changed files with 35 additions and 34 deletions
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69
docker-compose.yaml
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@ -54,41 +54,42 @@ services:
# Needed to display graphical applications # Needed to display graphical applications
privileged: true privileged: true
# Localization # # Localization
localization: # localization:
extends: overlay # extends: overlay
command: > # command: >
/localization_startup.sh # /localization_startup.sh
devices: # devices:
- /dev/ttyUSB0:/dev/ttyUSB0 # - /dev/ttyUSB0:/dev/ttyUSB0
- /dev/ttyACM0:/dev/ttyACM0 # - /dev/ttyACM0:/dev/ttyACM0
- /dev/input/js0:/dev/input/js0 # - /dev/input/js0:/dev/input/js0
# Interactive shell # # Interactive shell
stdin_open: true # stdin_open: true
tty: true # tty: true
# Networking and IPC for ROS 2 # # Networking and IPC for ROS 2
network_mode: host # network_mode: host
ipc: host # ipc: host
# Needed to display graphical applications # # Needed to display graphical applications
privileged: true # privileged: true
# # mapping
# mapping:
# extends: overlay
# command: >
# ros2 launch bot_mini_bringup robot_mapper.launch.py
# devices:
# - /dev/ttyUSB0:/dev/ttyUSB0
# - /dev/ttyACM0:/dev/ttyACM0
# - /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
# mapping
mapping:
extends: overlay
command: >
ros2 launch bot_mini_bringup robot_mapper.launch.py
devices:
- /dev/ttyUSB0:/dev/ttyUSB0
- /dev/ttyACM0:/dev/ttyACM0
- /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
# # navigation # # navigation
# navigation: # navigation:
# extends: overlay # extends: overlay