From 805e9cf72c0b2a6564d15708648762d7b33dc84a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 29 Aug 2023 09:07:28 +0200
Subject: [PATCH] added foxglove websocket bridge

---
 docker-compose.yaml | 17 ++++++++++++-----
 docker/Dockerfile   |  6 ++++--
 2 files changed, 16 insertions(+), 7 deletions(-)

diff --git a/docker-compose.yaml b/docker-compose.yaml
index 7c8c2d2..e8fa01f 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -32,8 +32,6 @@ services:
       # Allows graphical programs in the container.
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
-    devices:
-      - /dev/input/js0:/dev/input/js0
 
   # Overlay image containing the project specific source code.
   overlay:
@@ -225,8 +223,6 @@ services:
     # Networking and IPC for ROS 2
     network_mode: host
     ipc: host
-    devices:
-      - /dev/input/js0:/dev/input/js0
     environment:
     - ROS_DOMAIN_ID=5
 
@@ -254,4 +250,15 @@ services:
     volumes:
       # Allows graphical programs in the container.
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
\ No newline at end of file
+      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
+
+  # Foxglove Studio ROS2 Bridge
+  bridge:
+    extends: base
+    command: >
+      ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
\ No newline at end of file
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 7681702..0d3c250 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -29,7 +29,7 @@ COPY dependencies.amd64.repos .
 RUN echo "Hardware platform is: $(uname -m)"
 RUN uname -a
 
-RUN echo "update base 23.08.2023"
+RUN echo "update base 29.08.2023"
 
 RUN if [ "$(uname -m)" = "x86_64" ]; then \
   echo "Copying files for linux/amd64"; \
@@ -46,13 +46,15 @@ RUN vcs import < dependencies.repos;
 WORKDIR /rmp_ws
 RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
   && apt-get update -y \
+  && apt-get install -y --no-install-recommends \
+   ros-${ROS_DISTRO}-foxglove-bridge \
   && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
 
 RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
   && colcon build --symlink-install
 
 # Use Cyclone DDS as middleware and install xacro
-RUN apt-get update && apt-get install -y --no-install-recommends \
+RUN apt-get install -y --no-install-recommends \
   ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
   ros-${ROS_DISTRO}-xacro \
   && rm -rf /var/lib/apt/lists/*