From 4009de10b14ecb7703be61a3395693b12d8efe16 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 8 Aug 2023 10:43:15 +0200
Subject: [PATCH] update ROS_DOMAIN_ID

---
 docker-compose.yaml     | 14 +++++++-------
 docker/Dockerfile.amd64 |  2 ++
 docker/Dockerfile.arm64 |  3 ++-
 3 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/docker-compose.yaml b/docker-compose.yaml
index 6e7066d..94cae0c 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -74,7 +74,7 @@ services:
   robot_state_publisher:
     extends: overlay
     command: >
-      ros2 launch cps_rmp220_support rsp.launch.py
+      ROS_DOMAIN_ID=5 ros2 launch cps_rmp220_support rsp.launch.py
     stdin_open: true
     tty: true
     # Networking and IPC for ROS 2
@@ -85,7 +85,7 @@ services:
   controller:
     extends: overlay 
     command: >
-      ros2 launch cps_rmp220_support robot_controller.launch.py
+      ROS_DOMAIN_ID=5 ros2 launch cps_rmp220_support robot_controller.launch.py
     devices:
       - /dev/ttyUSB0:/dev/ttyUSB0
       - /dev/ttyUSB1:/dev/ttyUSB1
@@ -105,7 +105,7 @@ services:
   teleop:
     extends: overlay 
     command: >
-      ros2 launch cps_rmp220_support robot_joystick.launch.py 
+      ROS_DOMAIN_ID=5 ros2 launch cps_rmp220_support robot_joystick.launch.py 
     devices:
       - /dev/input/js0:/dev/input/js0
     # Interactive shell
@@ -121,7 +121,7 @@ services:
   lidar:
     extends: overlay
     command: >
-      ros2 launch cps_rmp220_support robot_lidar.launch.py
+      ROS_DOMAIN_ID=5 ros2 launch cps_rmp220_support robot_lidar.launch.py
     stdin_open: true
     tty: true
     # Networking and IPC for ROS 2
@@ -134,7 +134,7 @@ services:
   mapping:
     extends: overlay
     command: >
-      ros2 launch cps_rmp220_support robot_mapping.launch.py
+      ROS_DOMAIN_ID=5 ros2 launch cps_rmp220_support robot_mapping.launch.py
     # Interactive shell
     stdin_open: true
     tty: true
@@ -146,7 +146,7 @@ services:
   navigation:
     extends: overlay
     command: >
-      ros2 launch cps_rmp220_support robot_navigation.launch.py
+      ROS_DOMAIN_ID=5 ros2 launch cps_rmp220_support robot_navigation.launch.py
       map_subscribe_transient_local:=true
     stdin_open: true
     tty: true
@@ -171,7 +171,7 @@ services:
   rviz2:
     extends: guis
     # command: >
-    #   ros2 launch cps_rmp220_support robot_rviz2.launch.py
+    #   ROS_DOMAIN_ID=5 ros2 launch cps_rmp220_support robot_rviz2.launch.py
     command: >
       rviz2
     # Interactive shell
diff --git a/docker/Dockerfile.amd64 b/docker/Dockerfile.amd64
index be0b9e4..ed65b77 100644
--- a/docker/Dockerfile.amd64
+++ b/docker/Dockerfile.amd64
@@ -36,6 +36,8 @@ FROM base AS overlay
 # Create an overlay Colcon workspace
 RUN mkdir -p /overlay_ws/src
 WORKDIR /overlay_ws/src
+
+RUN echo "Dummy step"
 COPY overlay.repos .
 RUN vcs import < overlay.repos
 
diff --git a/docker/Dockerfile.arm64 b/docker/Dockerfile.arm64
index 406e7e4..ae96e74 100644
--- a/docker/Dockerfile.arm64
+++ b/docker/Dockerfile.arm64
@@ -37,8 +37,9 @@ FROM base AS overlay
 # Create an overlay Colcon workspace
 RUN mkdir -p /overlay_ws/src
 WORKDIR /overlay_ws/src
-COPY overlay.repos .
+
 RUN echo "Dummy step"
+COPY overlay.repos .
 RUN vcs import < overlay.repos
 
 WORKDIR /overlay_ws