ellensohn/ros2_bot_mini
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This commit is contained in:
Björn Ellensohn 2023-07-25 11:15:30 +02:00
parent 6be79422ac
commit 7eabbc5ed9
3 changed files with 29 additions and 7 deletions
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8
docker-compose.yaml
View File

@ -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

3
docker/Dockerfile
View File

@ -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" ]

25
robot_startup.sh Normal file
View File

@ -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"