ellensohn/ros2_rmp
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update

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This commit is contained in:
Björn Ellensohn 2023-08-18 10:02:02 +02:00
parent 1ddcc6531d
commit 06b7aa9924
3 changed files with 4 additions and 2 deletions
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2
docker-compose.yaml
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@ -89,8 +89,6 @@ services:
controller: controller:
extends: base extends: base
command: > command: >
source /opt/ros/humble/setup.bash &&
source /rmp_ws/install/setup.bash &&
ros2 run segwayrmp SmartCar --ros-args -r cmd_vel:=cmd_vel_out -p serial_full_name:=/dev/ttyUSB0 ros2 run segwayrmp SmartCar --ros-args -r cmd_vel:=cmd_vel_out -p serial_full_name:=/dev/ttyUSB0
devices: devices:
- /dev/ttyUSB0:/dev/ttyUSB0 - /dev/ttyUSB0:/dev/ttyUSB0

2
docker/Dockerfile
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@ -61,6 +61,8 @@ ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ENV UNDERLAY_WS=${UNDERLAY_WS} ENV UNDERLAY_WS=${UNDERLAY_WS}
RUN echo "update Entrypoint 18.08.2023"
# Set up the entrypoint # Set up the entrypoint
COPY ./docker/entrypoint.sh / COPY ./docker/entrypoint.sh /
RUN chmod +x /entrypoint.sh RUN chmod +x /entrypoint.sh

2
docker/entrypoint.sh
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@ -1,6 +1,8 @@
#!/bin/bash #!/bin/bash
# Basic entrypoint for ROS / Colcon Docker containers # Basic entrypoint for ROS / Colcon Docker containers
UNDERLAY_WS=/rmp_ws
# Source ROS 2 # Source ROS 2
source /opt/ros/${ROS_DISTRO}/setup.bash source /opt/ros/${ROS_DISTRO}/setup.bash
echo "Sourced ROS 2 ${ROS_DISTRO}" echo "Sourced ROS 2 ${ROS_DISTRO}"