diff --git a/docker-compose.yaml b/docker-compose.yaml index 3c86fdd..6e7066d 100644 --- a/docker-compose.yaml +++ b/docker-compose.yaml @@ -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 diff --git a/docker/entrypoint.sh b/docker/entrypoint.sh index 3702682..27cccfb 100644 --- a/docker/entrypoint.sh +++ b/docker/entrypoint.sh @@ -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 "$@" \ No newline at end of file