From d910fd91bd60f1786138e564bcf29c54b44ae105 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 26 Sep 2023 11:23:47 +0200
Subject: [PATCH] update

---
 docker-compose.yaml | 27 ++++++++++++++++++++++++++-
 docker/Dockerfile   |  6 +++++-
 rviz2.yaml          | 27 +++++++++++++++++++++++++++
 3 files changed, 58 insertions(+), 2 deletions(-)

diff --git a/docker-compose.yaml b/docker-compose.yaml
index 176a185..85f3d16 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -106,7 +106,7 @@ services:
 
   # Controller
   controller:
-    extends: base 
+    extends: base
     command: >
       ros2 run segwayrmp SmartCar --ros-args -r cmd_vel:=cmd_vel_out -p serial_full_name:=/dev/segway
     devices:
@@ -129,6 +129,8 @@ services:
   # teleop
   teleop:
     extends: base 
+    depends_on:
+      - controller
     command: >
       ros2 launch rmp220_teleop robot_joystick.launch.py 
     devices:
@@ -169,6 +171,9 @@ services:
   # localiaztion by ekf node
   ekf:
     extends: overlay
+    depends_on:
+      - controller
+      - rsp
     command: >
       ros2 launch cps_rmp220_support robot_localization.launch.py
     # Interactive shell
@@ -184,6 +189,10 @@ services:
   # mapping
   mapping:
     extends: overlay
+    depends_on:
+      - ekf
+      - rsp
+      - lidar
     command: >
       ros2 launch cps_rmp220_support robot_mapping.launch.py
     # Interactive shell
@@ -199,6 +208,10 @@ services:
   # slam-toolbox-localization
   localization:
     extends: overlay
+    depends_on:
+      - ekf
+      - rsp
+      - lidar
     command: >
       ros2 launch cps_rmp220_support robot_mapping_localization.launch.py map_file_name:=/repo/maps/map.yaml
     # Interactive shell
@@ -214,6 +227,10 @@ services:
   # amcl_localization
   amcl:
     extends: overlay
+    depends_on:
+      - ekf
+      - rsp
+      - lidar
     command: >
       ros2 launch cps_rmp220_support robot_amcl.launch.py map:=/repo/maps/map.yaml
     # Interactive shell
@@ -335,6 +352,14 @@ services:
   # ROS2 Frontier exploration
   explorer:
     extends: overlay
+    depends_on:
+      - controller
+      - teleop
+      - rsp
+      - lidar
+      - mapping
+      - ekf
+      - navigation
     command: >
       ros2 launch cps_rmp220_support robot_exploration.launch.py
     stdin_open: true
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 5a24518..fec1925 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -17,6 +17,8 @@ ENV ROS_DISTRO=${ROS_DISTRO}
 SHELL ["/bin/bash", "-c"]
 
 # Create Colcon workspace with external dependencies
+RUN echo "update base 26.09.2023 - test"
+
 RUN mkdir -p /rmp_ws/src
 WORKDIR /rmp_ws/src
 COPY dependencies.arm64.repos .
@@ -78,6 +80,7 @@ ENTRYPOINT [ "/entrypoint.sh" ]
 FROM base AS overlay
 
 # Create an overlay Colcon workspace
+RUN echo "update overlay 26.09.2023"
 RUN mkdir -p /overlay_ws/src
 WORKDIR /overlay_ws/src
 COPY overlay.repos .
@@ -85,10 +88,11 @@ RUN vcs import < overlay.repos
 
 WORKDIR /overlay_ws
 
-RUN echo "update overlay 22.09.2023"
+ENV DEBIAN_FRONTEND noninteractive 
 
 RUN source /rmp_ws/install/setup.bash \
   && apt-get update \
+  && DEBIAN_FRONTEND=noninteractive apt-get install ros-humble-robot-localization -y \
   && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
   && rm -rf /var/lib/apt/lists/*
 
diff --git a/rviz2.yaml b/rviz2.yaml
index 0319f4d..2816ed6 100644
--- a/rviz2.yaml
+++ b/rviz2.yaml
@@ -40,4 +40,31 @@ services:
       - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
     # networks: # not using bridging anymore, instead try using all services on macvlan? let's see... shoudl word for now. Bridging does definitely not work because multicast is not supported here.
     #   pc:
+    #     ipv4_address: 192.168.0.201 #here need to set fixed ip to avoid collissions with other containers on robot.
+
+  rviz2-depthai:
+    image: luxonis/depthai-ros:humble-latest
+    command: >
+      ros2 launch cps_rmp220_support rviz.launch.py
+    # Interactive shell
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    # Needed to display graphical applications
+    privileged: true
+    environment:
+      # Allows graphical programs in the container.
+      - DISPLAY=${DISPLAY}
+      - 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
+      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
+    # networks: # not using bridging anymore, instead try using all services on macvlan? let's see... shoudl word for now. Bridging does definitely not work because multicast is not supported here.
+    #   pc:
     #     ipv4_address: 192.168.0.201 #here need to set fixed ip to avoid collissions with other containers on robot.
\ No newline at end of file