ellensohn/ros2_rmp
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update ROS_DOMAIN_ID

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This commit is contained in:
Björn Ellensohn 2023-08-08 10:43:15 +02:00
parent e58a4d1416
commit 4009de10b1
3 changed files with 11 additions and 8 deletions
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14
docker-compose.yaml
View File

@ -74,7 +74,7 @@ services:
robot_state_publisher: robot_state_publisher:
extends: overlay extends: overlay
command: > command: >
ros2 launch cps_rmp220_support rsp.launch.py ROS_DOMAIN_ID=5 ros2 launch cps_rmp220_support rsp.launch.py
stdin_open: true stdin_open: true
tty: true tty: true
# Networking and IPC for ROS 2 # Networking and IPC for ROS 2
@ -85,7 +85,7 @@ services:
controller: controller:
extends: overlay extends: overlay
command: > command: >
ros2 launch cps_rmp220_support robot_controller.launch.py ROS_DOMAIN_ID=5 ros2 launch cps_rmp220_support robot_controller.launch.py
devices: devices:
- /dev/ttyUSB0:/dev/ttyUSB0 - /dev/ttyUSB0:/dev/ttyUSB0
- /dev/ttyUSB1:/dev/ttyUSB1 - /dev/ttyUSB1:/dev/ttyUSB1
@ -105,7 +105,7 @@ services:
teleop: teleop:
extends: overlay extends: overlay
command: > command: >
ros2 launch cps_rmp220_support robot_joystick.launch.py ROS_DOMAIN_ID=5 ros2 launch cps_rmp220_support robot_joystick.launch.py
devices: devices:
- /dev/input/js0:/dev/input/js0 - /dev/input/js0:/dev/input/js0
# Interactive shell # Interactive shell
@ -121,7 +121,7 @@ services:
lidar: lidar:
extends: overlay extends: overlay
command: > 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 stdin_open: true
tty: true tty: true
# Networking and IPC for ROS 2 # Networking and IPC for ROS 2
@ -134,7 +134,7 @@ services:
mapping: mapping:
extends: overlay extends: overlay
command: > 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 # Interactive shell
stdin_open: true stdin_open: true
tty: true tty: true
@ -146,7 +146,7 @@ services:
navigation: navigation:
extends: overlay extends: overlay
command: > 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 map_subscribe_transient_local:=true
stdin_open: true stdin_open: true
tty: true tty: true
@ -171,7 +171,7 @@ services:
rviz2: rviz2:
extends: guis extends: guis
# command: > # command: >
# ros2 launch cps_rmp220_support robot_rviz2.launch.py # ROS_DOMAIN_ID=5 ros2 launch cps_rmp220_support robot_rviz2.launch.py
command: > command: >
rviz2 rviz2
# Interactive shell # Interactive shell

2
docker/Dockerfile.amd64
View File

@ -36,6 +36,8 @@ FROM base AS overlay
# Create an overlay Colcon workspace # Create an overlay Colcon workspace
RUN mkdir -p /overlay_ws/src RUN mkdir -p /overlay_ws/src
WORKDIR /overlay_ws/src WORKDIR /overlay_ws/src
RUN echo "Dummy step"
COPY overlay.repos . COPY overlay.repos .
RUN vcs import < overlay.repos RUN vcs import < overlay.repos

3
docker/Dockerfile.arm64
View File

@ -37,8 +37,9 @@ FROM base AS overlay
# Create an overlay Colcon workspace # Create an overlay Colcon workspace
RUN mkdir -p /overlay_ws/src RUN mkdir -p /overlay_ws/src
WORKDIR /overlay_ws/src WORKDIR /overlay_ws/src
COPY overlay.repos .
RUN echo "Dummy step" RUN echo "Dummy step"
COPY overlay.repos .
RUN vcs import < overlay.repos RUN vcs import < overlay.repos
WORKDIR /overlay_ws WORKDIR /overlay_ws