ekf

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

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"; \