From 305f8c0df913b9c9752a4a0230d0085df42c7a88 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 22 Aug 2023 09:05:48 +0200
Subject: [PATCH] ekf

---
 docker-compose.yaml | 14 ++++++++++++++
 docker/Dockerfile   |  2 +-
 2 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/docker-compose.yaml b/docker-compose.yaml
index 712cf33..d22b816 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -143,6 +143,20 @@ services:
       - /dev/ttyUSB1:/dev/ttyUSB1
       - /dev/ttyUSB0:/dev/ttyUSB0
 
+  # localiaztion by ekf node
+  ekf:
+    extends: overlay
+    command: >
+      ros2 launch cps_rmp220_support robot_localization.launch.py
+    # Interactive shell
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    environment:
+    - ROS_DOMAIN_ID=5
+
   # mapping
   mapping:
     extends: overlay
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 2bcd799..b1d999e 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"
+RUN echo "update base 22.08.2023-2"
 
 RUN if [ "$(uname -m)" = "x86_64" ]; then \
   echo "Copying files for linux/amd64"; \