From 2eb1abb81ccff443769bd7d92bb58e3e8022c206 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Wed, 23 Aug 2023 08:16:20 +0200
Subject: [PATCH] added amcl

---
 docker-compose.yaml | 16 +++++++++++++++-
 docker/Dockerfile   |  2 +-
 2 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/docker-compose.yaml b/docker-compose.yaml
index 026f145..b20ec17 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -175,7 +175,21 @@ services:
   localization:
     extends: overlay
     command: >
-      ros2 launch cps_rmp220_support robot_mapping_localization.launch.py map_file_name:=/repo/maps/map.yaml
+      ros2 launch cps_rmp220_support robot_mapping_localization.launch.py map:=/repo/maps/map.yaml
+    # Interactive shell
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    environment:
+    - ROS_DOMAIN_ID=5
+
+  # amcllocalization
+  amcl:
+    extends: overlay
+    command: >
+      ros2 launch cps_rmp220_support robot_amcl.launch.py map_file_name:=/repo/maps/map.yaml
     # Interactive shell
     stdin_open: true
     tty: true
diff --git a/docker/Dockerfile b/docker/Dockerfile
index bb332f5..7681702 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -29,7 +29,7 @@ COPY dependencies.amd64.repos .
 RUN echo "Hardware platform is: $(uname -m)"
 RUN uname -a
 
-RUN echo "update base 22.08.2023-3"
+RUN echo "update base 23.08.2023"
 
 RUN if [ "$(uname -m)" = "x86_64" ]; then \
   echo "Copying files for linux/amd64"; \