update

docker-compose.yaml

@@ -102,7 +102,7 @@ services:
     command: >
       /bin/bash
     devices:
-          - /dev/dri:/dev/dri
+      - /dev/dri:/dev/dri
 
   # Robot State Publisher
   rsp:
@@ -116,8 +116,8 @@ services:
     command: >
       ros2 run segwayrmp SmartCar --ros-args -r cmd_vel:=cmd_vel_out -p serial_full_name:=/dev/segway
     devices:
-      - /dev/segway:/dev/segway
-      - /dev/ttyUSB0:/dev/ttyUSB0
+      - /dev/segway:/dev/ttyUSB0
+      #- /dev/ttyUSB0:/dev/ttyUSB0
 
   # teleop
   teleop:
@@ -128,6 +128,7 @@ services:
       ros2 launch rmp220_teleop robot_joystick.launch.py 
     devices:
       - /dev/input/js0:/dev/input/js0
+      #- /dev/input/by-id/usb-Logitech_Wireless_Gamepad_F710_56679674-joystick:/dev/input/by-id/usb-Logitech_Wireless_Gamepad_F710_56679674-joystick
 
   # lidar
   lidar:

maps/map_floor_03-10-23.sav.yaml

@@ -0,0 +1,7 @@
+image: map_floor_03-10-23.sav.pgm
+mode: trinary
+resolution: 0.05
+origin: [-27.2, -0.0189, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

maps/map_openlabday.yaml

@@ -0,0 +1,7 @@
+image: map_openlabday.pgm
+mode: trinary
+resolution: 0.05
+origin: [-13.5, -20.9, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

maps/map_save_16.10..yaml

@@ -0,0 +1,7 @@
+image: map_save_16.10..pgm
+mode: trinary
+resolution: 0.05
+origin: [-25.7, -17, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25