From 7eabbc5ed933ac3ce7bf396612036d2fa1fb6362 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 25 Jul 2023 11:15:30 +0200
Subject: [PATCH] update

---
 docker-compose.yaml |  8 +-------
 docker/Dockerfile   |  3 +++
 robot_startup.sh    | 25 +++++++++++++++++++++++++
 3 files changed, 29 insertions(+), 7 deletions(-)
 create mode 100644 robot_startup.sh

diff --git a/docker-compose.yaml b/docker-compose.yaml
index e3ff776..e4005cc 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -39,14 +39,8 @@ services:
   # Controller and teleop
   controller:
     extends: overlay
-    entrypoint: ["/bin/sh","-c"]
     command: >
-      source install/setup.bash
-      &&
-      ros2 launch bot_mini_bringup robot_controller.launch.py
-      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_joy_teleop.launch.py
+      /robot_startup.sh
     devices:
       - /dev/ttyUSB0:/dev/ttyUSB0
       - /dev/ttyACM0:/dev/ttyACM0
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 400dd1f..3a56344 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -50,4 +50,7 @@ RUN source /bot_mini_ws/install/setup.bash \
 COPY ./docker/entrypoint.sh /
 RUN chmod +x /entrypoint.sh
 
+COPY ./robot_startup.sh /
+RUN chmod +x /robot_startup.sh
+
 ENTRYPOINT [ "/entrypoint.sh" ]
\ No newline at end of file
diff --git a/robot_startup.sh b/robot_startup.sh
new file mode 100644
index 0000000..731a3ef
--- /dev/null
+++ b/robot_startup.sh
@@ -0,0 +1,25 @@
+#!/bin/bash
+# Basic entrypoint for ROS / Colcon Docker containers
+
+# Source ROS 2
+source /opt/ros/${ROS_DISTRO}/setup.bash
+echo "Sourced ROS 2 ${ROS_DISTRO}"
+
+# Source the base workspace, if built
+if [ -f ${UNDERLAY_WS}/install/setup.bash ]
+then
+  source ${UNDERLAY_WS}/install/setup.bash
+  #export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models
+  echo "Sourced Bot Mini base workspace"
+fi
+
+# Source the overlay workspace, if built
+if [ -f /overlay_ws/install/setup.bash ]
+then
+  source /overlay_ws/install/setup.bash
+  #export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix tb3_worlds)/share/tb3_worlds/models
+  echo "Sourced Bot Mini overlay workspace"
+fi
+
+# Start Robot ROS2 Nodes
+bash -c "ros2 launch bot_mini_bringup robot_controller.launch.py 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_joy_teleop.launch.py"
\ No newline at end of file