diff --git a/docker-compose.yaml b/docker-compose.yaml index 18efa07..06a7044 100644 --- a/docker-compose.yaml +++ b/docker-compose.yaml @@ -36,6 +36,18 @@ services: dockerfile: docker/Dockerfile target: overlay + + # Robot State Publisher + robot_state_publisher: + extends: overlay + command: > + ros2 launch bot_mini_bringup rsp.launch.py + stdin_open: true + tty: true + # Networking and IPC for ROS 2 + network_mode: host + ipc: host + # Controller and teleop controller: extends: overlay @@ -53,6 +65,8 @@ services: ipc: host # Needed to display graphical applications privileged: true + depends_on: + - robot_state_publisher # MicroRos Agent microros_agent: @@ -70,11 +84,24 @@ services: # Needed to display graphical applications privileged: true + # sensors + sensors: + extends: overlay + command: > + ros2 launch bot_mini_bringup robot_lidar.launch.py + stdin_open: true + tty: true + # Networking and IPC for ROS 2 + network_mode: host + ipc: host + depends_on: + - robot_state_publisher + # Localization localization: extends: overlay command: > - /localization_startup.sh + ros2 launch bot_mini_bringup robot_localization.launch.py devices: - /dev/ttyUSB0:/dev/ttyUSB0 - /dev/ttyUSB1:/dev/ttyUSB1