From fe19ca1207e441105a5fd8097e1cb9178d3922b1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 25 Jul 2023 11:59:39 +0200
Subject: [PATCH] update

---
 docker-compose.yaml     | 58 +++++++++++++++++++++++++++++++++++++++--
 docker/Dockerfile       |  6 +++++
 localization_startup.sh | 28 ++++++++++++++++++++
 3 files changed, 90 insertions(+), 2 deletions(-)
 create mode 100644 localization_startup.sh

diff --git a/docker-compose.yaml b/docker-compose.yaml
index 34c0b02..96e0fd1 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -67,8 +67,7 @@ services:
   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
+      /localization_startup.sh
     devices:
       - /dev/ttyUSB0:/dev/ttyUSB0
       - /dev/ttyACM0:/dev/ttyACM0
@@ -90,6 +89,61 @@ services:
       # Allows graphical programs in the container.
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
+
+    # mapping
+    mapping:
+      extends: overlay
+      command: >
+        ros2 launch bot_mini_bringup robot_mapper.launch.py
+      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
+
+    # navigation
+    navigation:
+      extends: overlay
+      command: >
+        ros2 launch bot_mini_bringup robot_navigation.launch.py
+        map_subscribe_transient_local:=true
+      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
  
   # # Behavior demo using Python and py_trees
   # demo-behavior-py:
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 47ec9ce..215dc9c 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -53,4 +53,10 @@ RUN chmod +x /entrypoint.sh
 COPY ./controller_startup.sh /
 RUN chmod +x /controller_startup.sh
 
+COPY ./mapping_startup.sh /
+RUN chmod +x /mapping_startup.sh
+
+COPY ./localization_startup.sh /
+RUN chmod +x /localization_startup.sh
+
 ENTRYPOINT [ "/entrypoint.sh" ]
\ No newline at end of file
diff --git a/localization_startup.sh b/localization_startup.sh
new file mode 100644
index 0000000..5f6475a
--- /dev/null
+++ b/localization_startup.sh
@@ -0,0 +1,28 @@
+#!/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
+ros2 launch bot_mini_bringup robot_lidar.launch.py &
+ros2 launch bot_mini_bringup robot_localization.launch.py
+
+wait
\ No newline at end of file