update

docker-compose.yaml

@@ -89,6 +89,8 @@ 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 +61,12 @@ ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
 ENV UNDERLAY_WS=${UNDERLAY_WS}
 
+# Set up the entrypoint
+COPY ./docker/entrypoint.sh /
+RUN chmod +x /entrypoint.sh
+
+ENTRYPOINT [ "/entrypoint.sh" ]
+
 ###########################################
 # Overlay Image for RMP Control #
 ###########################################