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 ipc: host
environment: environment:
- ROS_DOMAIN_ID=5 - ROS_DOMAIN_ID=5
profiles: - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
- robot
# Controller # Controller
controller: controller:
@ -104,10 +103,8 @@ services:
# depends_on: # depends_on:
# - robot_state_publisher # - robot_state_publisher
environment: environment:
- ROS_DOMAIN_ID=5 - ROS_DOMAIN_ID=5
restart: unless-stopped - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
profiles:
- robot
# teleop # teleop
teleop: teleop:
@ -125,9 +122,8 @@ services:
# Needed to display graphical applications # Needed to display graphical applications
privileged: true privileged: true
environment: environment:
- ROS_DOMAIN_ID=5 - ROS_DOMAIN_ID=5
profiles: - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
- robot
# lidar # lidar
lidar: lidar:
@ -142,13 +138,12 @@ services:
# depends_on: # depends_on:
# - robot_state_publisher # - robot_state_publisher
environment: environment:
- ROS_DOMAIN_ID=5 - ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
devices: devices:
- /dev/rplidarA1:/dev/rplidarA1 #udevrules needed for this to work: - /dev/rplidarA1:/dev/rplidarA1 #udevrules needed for this to work:
# SUBSYSTEM=="tty", ATTRS{serial}=="0001", SYMLINK+="segway" # SUBSYSTEM=="tty", ATTRS{serial}=="0001", SYMLINK+="segway"
# SUBSYSTEM=="tty", ATTRS{serial}=="3453995662b3af4f81f4a69eba5f3f29", SYMLINK+="rplidarA1" # SUBSYSTEM=="tty", ATTRS{serial}=="3453995662b3af4f81f4a69eba5f3f29", SYMLINK+="rplidarA1"
profiles:
- robot
# localiaztion by ekf node # localiaztion by ekf node
@ -163,7 +158,8 @@ services:
network_mode: host network_mode: host
ipc: host ipc: host
environment: environment:
- ROS_DOMAIN_ID=5 - ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# mapping # mapping
mapping: mapping:
@ -178,6 +174,7 @@ services:
ipc: host ipc: host
environment: environment:
- ROS_DOMAIN_ID=5 - ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# slam-toolbox-localization # slam-toolbox-localization
localization: localization:
@ -192,6 +189,7 @@ services:
ipc: host ipc: host
environment: environment:
- ROS_DOMAIN_ID=5 - ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# amcl_localization # amcl_localization
amcl: amcl:
@ -206,8 +204,7 @@ services:
ipc: host ipc: host
environment: environment:
- ROS_DOMAIN_ID=5 - ROS_DOMAIN_ID=5
profiles: - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
- robot
# navigation # navigation
navigation: navigation:
@ -222,8 +219,7 @@ services:
ipc: host ipc: host
environment: environment:
- ROS_DOMAIN_ID=5 - ROS_DOMAIN_ID=5
profiles: - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
- robot
# bash # bash
bash: bash:
@ -237,6 +233,7 @@ services:
ipc: host ipc: host
environment: environment:
- ROS_DOMAIN_ID=5 - ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# rviz2 # rviz2
rviz2: rviz2:
@ -259,6 +256,7 @@ services:
- QT_X11_NO_MITSHM=1 - QT_X11_NO_MITSHM=1
- NVIDIA_DRIVER_CAPABILITIES=all - NVIDIA_DRIVER_CAPABILITIES=all
- ROS_DOMAIN_ID=5 - ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
volumes: volumes:
# Allows graphical programs in the container. # Allows graphical programs in the container.
- /tmp/.X11-unix:/tmp/.X11-unix:rw - /tmp/.X11-unix:/tmp/.X11-unix:rw