From dc5033f04d1c80afa666b52239a5861101ffdf86 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 8 Aug 2023 10:51:25 +0200
Subject: [PATCH] update ROS_DOMAIN_ID

---
 docker-compose.yaml  | 14 +++++++-------
 docker/entrypoint.sh |  2 ++
 2 files changed, 9 insertions(+), 7 deletions(-)

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