ellensohn/ros2_bot_mini
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Björn Ellensohn 2023-07-25 11:01:44 +02:00
parent e93be2bdc1
commit 755dfffa1f
1 changed files with 1 additions and 2 deletions
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docker-compose.yaml
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@ -39,13 +39,12 @@ services:
# Controller and teleop # Controller and teleop
controller: controller:
extends: overlay extends: overlay
entrypoint: ["/bin/sh","-c"]
command: > command: >
bash -c "
ros2 launch bot_mini_bringup robot_controller.launch.py ros2 launch bot_mini_bringup robot_controller.launch.py
priority:=80 cpu-affinity:=4 lock-memory-size:=100 config-child-threads:=True priority:=80 cpu-affinity:=4 lock-memory-size:=100 config-child-threads:=True
&& ros2 launch bot_mini_bringup robot_twist_mux.launch.py && ros2 launch bot_mini_bringup robot_twist_mux.launch.py
&& ros2 launch bot_mini_bringup robot_joy_teleop.launch.py && ros2 launch bot_mini_bringup robot_joy_teleop.launch.py
"
devices: devices:
- /dev/ttyUSB0:/dev/ttyUSB0 - /dev/ttyUSB0:/dev/ttyUSB0
- /dev/ttyACM0:/dev/ttyACM0 - /dev/ttyACM0:/dev/ttyACM0