ellensohn/ros2_rmp
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update

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This commit is contained in:
Björn Ellensohn 2023-08-31 11:30:00 +02:00
parent 65406f281d
commit 52f25956dc
1 changed files with 15 additions and 17 deletions
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32
docker-compose.yaml
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@ -82,8 +82,7 @@ services:
ipc: host
environment:
- ROS_DOMAIN_ID=5
profiles:
- robot
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# Controller
controller:
@ -104,10 +103,8 @@ services:
# depends_on:
# - robot_state_publisher
environment:
- ROS_DOMAIN_ID=5
restart: unless-stopped
profiles:
- robot
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# teleop
teleop:
@ -125,9 +122,8 @@ services:
# Needed to display graphical applications
privileged: true
environment:
- ROS_DOMAIN_ID=5
profiles:
- robot
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# lidar
lidar:
@ -142,13 +138,12 @@ services:
# depends_on:
# - robot_state_publisher
environment:
- ROS_DOMAIN_ID=5
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
devices:
- /dev/rplidarA1:/dev/rplidarA1 #udevrules needed for this to work:
# SUBSYSTEM=="tty", ATTRS{serial}=="0001", SYMLINK+="segway"
# SUBSYSTEM=="tty", ATTRS{serial}=="3453995662b3af4f81f4a69eba5f3f29", SYMLINK+="rplidarA1"
profiles:
- robot
# localiaztion by ekf node
@ -163,7 +158,8 @@ services:
network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# mapping
mapping:
@ -178,6 +174,7 @@ services:
ipc: host
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# slam-toolbox-localization
localization:
@ -192,6 +189,7 @@ services:
ipc: host
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# amcl_localization
amcl:
@ -206,8 +204,7 @@ services:
ipc: host
environment:
- ROS_DOMAIN_ID=5
profiles:
- robot
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# navigation
navigation:
@ -222,8 +219,7 @@ services:
ipc: host
environment:
- ROS_DOMAIN_ID=5
profiles:
- robot
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# bash
bash:
@ -237,6 +233,7 @@ services:
ipc: host
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# rviz2
rviz2:
@ -259,6 +256,7 @@ services:
- QT_X11_NO_MITSHM=1
- NVIDIA_DRIVER_CAPABILITIES=all
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
volumes:
# Allows graphical programs in the container.
- /tmp/.X11-unix:/tmp/.X11-unix:rw