From 18212fcd0c0a77d222dc618f5d962cbc477f1786 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Wed, 13 Sep 2023 13:59:17 +0200
Subject: [PATCH] update

---
 docker-compose.yaml |  7 ++++---
 rviz2.yaml          | 43 +++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 47 insertions(+), 3 deletions(-)
 create mode 100644 rviz2.yaml

diff --git a/docker-compose.yaml b/docker-compose.yaml
index 9fa44c7..de7883e 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -257,7 +257,8 @@ services:
 
   # rviz2
   rviz2:
-    extends: guis
+    #extends: guis
+    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
     # command: >
     #   ros2 launch cps_rmp220_support robot_rviz2.launch.py
     command: >
@@ -266,7 +267,7 @@ services:
     stdin_open: true
     tty: true
     # Networking and IPC for ROS 2
-    #network_mode: host
+    network_mode: host
     ipc: host
     # Needed to display graphical applications
     privileged: true
@@ -281,7 +282,7 @@ services:
       # Allows graphical programs in the container.
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
-
+    
   # Foxglove Studio Bridge
   foxglove_bridge:
     extends: overlay
diff --git a/rviz2.yaml b/rviz2.yaml
new file mode 100644
index 0000000..0319f4d
--- /dev/null
+++ b/rviz2.yaml
@@ -0,0 +1,43 @@
+networks:
+  pc: # config for this pc. Only required for running the containers locally on the pc. For instance rviz2 or guis with gazebo.
+    driver: macvlan
+    driver_opts:
+      parent: wlx00e04c5513fc # pc network interface: here my wifi card. Can be found with ifconfig.
+    ipam:
+      config:
+          - subnet: 192.168.0.0/24
+            gateway: 192.168.0.1
+            ip_range: 192.168.0.200/25
+            aux_addresses:
+              net-address: 192.168.0.100 #? what is this for --> to exclude addresses from buing used.
+
+services:
+   # rviz2
+  rviz2:
+    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
+    # command: >
+    #   ros2 launch cps_rmp220_support robot_rviz2.launch.py
+    command: >
+      ros2 launch cps_rmp220_support rviz.launch.py
+    # 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
+      - ROS_DOMAIN_ID=5
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+    volumes:
+      # Allows graphical programs in the container.
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
+    # networks: # not using bridging anymore, instead try using all services on macvlan? let's see... shoudl word for now. Bridging does definitely not work because multicast is not supported here.
+    #   pc:
+    #     ipv4_address: 192.168.0.201 #here need to set fixed ip to avoid collissions with other containers on robot.
\ No newline at end of file