update

docker-compose.yaml

@@ -2,7 +2,7 @@ version: "3.9"
 services:
   # Base image containing dependencies.
   base:
-    image: bot_mini:base
+    image: ghcr.io/bjoernellens1/ros2_bot_mini/bot_mini:base
     build:
       context: .
       dockerfile: docker/Dockerfile
@@ -30,15 +30,27 @@ services:
   # Overlay image containing the example source code.
   overlay:
     extends: base
-    image: bot_mini:overlay
+    image: ghcr.io/bjoernellens1/ros2_bot_mini/bot_mini:overlay
     build:
       context: .
       dockerfile: docker/Dockerfile
       target: overlay
 
+
+  # Robot State Publisher
+  robot_state_publisher:
+    extends: overlay
+    command: >
+      ros2 launch bot_mini_bringup rsp.launch.py
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+
   # Controller and teleop
   controller:
-    extends: overlay
+    extends: overlay 
     command: >
       /controller_startup.sh
     devices:
@@ -53,6 +65,8 @@ services:
     ipc: host
     # Needed to display graphical applications
     privileged: true
+    depends_on:
+      - robot_state_publisher
 
   # MicroRos Agent
   microros_agent:
@@ -70,11 +84,24 @@ services:
     # Needed to display graphical applications
     privileged: true
 
+  # sensors
+  sensors:
+    extends: overlay
+    command: >
+      ros2 launch bot_mini_bringup robot_lidar.launch.py
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    depends_on:
+      - robot_state_publisher
+
   # Localization
   localization:
     extends: overlay
     command: >
-      /localization_startup.sh
+      ros2 launch bot_mini_bringup robot_localization.launch.py
     devices:
       - /dev/ttyUSB0:/dev/ttyUSB0
       - /dev/ttyUSB1:/dev/ttyUSB1