From b266eab40cf99ececb6676764c94570118040462 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 25 Jul 2023 11:29:56 +0200
Subject: [PATCH] update

---
 robot_startup.sh => controller_startup.sh |  0
 docker-compose.yaml                       | 31 ++++++++++++++++++++++-
 docker/Dockerfile                         |  4 +--
 3 files changed, 32 insertions(+), 3 deletions(-)
 rename robot_startup.sh => controller_startup.sh (100%)

diff --git a/robot_startup.sh b/controller_startup.sh
similarity index 100%
rename from robot_startup.sh
rename to controller_startup.sh
diff --git a/docker-compose.yaml b/docker-compose.yaml
index e4005cc..05c7e89 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -40,7 +40,36 @@ services:
   controller:
     extends: overlay
     command: >
-      /robot_startup.sh
+      /controller_startup.sh
+    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
+    environment:
+      # Allows graphical programs in the container.
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+      - NVIDIA_DRIVER_CAPABILITIES=all
+    volumes:
+      # Allows graphical programs in the container.
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
+
+  # Localization
+  localization:
+    extends: overlay
+    command: >
+      ros2 launch bot_mini_bringup rsp.launch.py &
+      ros2 launch bot_mini_bringup robot_localization.launch.py &
+      ros2 launch bot_mini_bringup robot_lidar.launch.py
     devices:
       - /dev/ttyUSB0:/dev/ttyUSB0
       - /dev/ttyACM0:/dev/ttyACM0
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 3a56344..47ec9ce 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -50,7 +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
+COPY ./controller_startup.sh /
+RUN chmod +x /controller_startup.sh
 
 ENTRYPOINT [ "/entrypoint.sh" ]
\ No newline at end of file