update

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

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 /
+COPY ./controller_startup.sh /
-RUN chmod +x /robot_startup.sh
+RUN chmod +x /controller_startup.sh
 
 ENTRYPOINT [ "/entrypoint.sh" ]