ellensohn/ros2_rmp
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update ROS_DOMAIN_ID

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This commit is contained in:
Björn Ellensohn 2023-08-08 10:51:25 +02:00
parent 54a0c85fa9
commit dc5033f04d
2 changed files with 9 additions and 7 deletions
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14
docker-compose.yaml
View File

@ -74,7 +74,7 @@ services:
robot_state_publisher:
extends: overlay
command: >
export ROS_DOMAIN_ID=5 && ROS_DOMAIN_ID=5 ros2 launch cps_rmp220_support rsp.launch.py
ros2 launch cps_rmp220_support rsp.launch.py
stdin_open: true
tty: true
# Networking and IPC for ROS 2
@ -85,7 +85,7 @@ services:
controller:
extends: overlay
command: >
export ROS_DOMAIN_ID=5 && ROS_DOMAIN_ID=5 ros2 launch cps_rmp220_support robot_controller.launch.py
ros2 launch cps_rmp220_support robot_controller.launch.py
devices:
- /dev/ttyUSB0:/dev/ttyUSB0
- /dev/ttyUSB1:/dev/ttyUSB1
@ -105,7 +105,7 @@ services:
teleop:
extends: overlay
command: >
export ROS_DOMAIN_ID=5 && ROS_DOMAIN_ID=5 ros2 launch cps_rmp220_support robot_joystick.launch.py
ros2 launch cps_rmp220_support robot_joystick.launch.py
devices:
- /dev/input/js0:/dev/input/js0
# Interactive shell
@ -121,7 +121,7 @@ services:
lidar:
extends: overlay
command: >
export ROS_DOMAIN_ID=5 && ROS_DOMAIN_ID=5 ros2 launch cps_rmp220_support robot_lidar.launch.py
ros2 launch cps_rmp220_support robot_lidar.launch.py
stdin_open: true
tty: true
# Networking and IPC for ROS 2
@ -134,7 +134,7 @@ services:
mapping:
extends: overlay
command: >
export ROS_DOMAIN_ID=5 && ROS_DOMAIN_ID=5 ros2 launch cps_rmp220_support robot_mapping.launch.py
ros2 launch cps_rmp220_support robot_mapping.launch.py
# Interactive shell
stdin_open: true
tty: true
@ -146,7 +146,7 @@ services:
navigation:
extends: overlay
command: >
export ROS_DOMAIN_ID=5 && ROS_DOMAIN_ID=5 ros2 launch cps_rmp220_support robot_navigation.launch.py
ros2 launch cps_rmp220_support robot_navigation.launch.py
map_subscribe_transient_local:=true
stdin_open: true
tty: true
@ -171,7 +171,7 @@ services:
rviz2:
extends: guis
# command: >
# export ROS_DOMAIN_ID=5 && ROS_DOMAIN_ID=5 ros2 launch cps_rmp220_support robot_rviz2.launch.py
# ros2 launch cps_rmp220_support robot_rviz2.launch.py
command: >
rviz2
# Interactive shell

2
docker/entrypoint.sh
View File

@ -21,5 +21,7 @@ then
echo "Sourced CPS RMP 220 Overlay workspace"
fi
export ROS_DOMAIN_ID=5
# Execute the command passed into this entrypoint
exec "$@"