update

docker-compose.yaml

@@ -89,8 +89,6 @@ services:
   controller:
     extends: base 
     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
     devices:
       - /dev/ttyUSB0:/dev/ttyUSB0

docker/Dockerfile

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

docker/entrypoint.sh

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