update

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 &
+      /localization_startup.sh
-      ros2 launch bot_mini_bringup robot_lidar.launch.py
     devices:
       - /dev/ttyUSB0:/dev/ttyUSB0
       - /dev/ttyACM0:/dev/ttyACM0
@@ -91,6 +90,61 @@ services:
       - /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:
   #   extends: overlay

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" ]

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