ellensohn/ros2_bot_mini
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Björn Ellensohn 2023-07-25 10:59:21 +02:00
parent 038a9f6b80
commit e93be2bdc1
1 changed files with 7 additions and 6 deletions
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docker-compose.yaml
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@ -39,12 +39,13 @@ services:
# Controller and teleop # Controller and teleop
controller: controller:
extends: overlay extends: overlay
command: command: >
- ros2 launch bot_mini_bringup robot_controller.launch.py bash -c "
- priority:=80 cpu-affinity:=4 lock-memory-size:=100 config-child-threads:=True 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_twist_mux.launch.py
ros2 launch bot_mini_bringup robot_joy_teleop.launch.py && ros2 launch bot_mini_bringup robot_joy_teleop.launch.py
"
devices: devices:
- /dev/ttyUSB0:/dev/ttyUSB0 - /dev/ttyUSB0:/dev/ttyUSB0
- /dev/ttyACM0:/dev/ttyACM0 - /dev/ttyACM0:/dev/ttyACM0