From de13a7da68bdd3902309c87f5ea2204b5b038f47 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Mon, 28 Aug 2023 12:16:09 +0200
Subject: [PATCH] update

---
 docker-compose.yaml | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/docker-compose.yaml b/docker-compose.yaml
index 4c236c9..269e535 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -89,9 +89,9 @@ services:
   controller:
     extends: base 
     command: >
-      ros2 run segwayrmp SmartCar --ros-args -r cmd_vel:=cmd_vel_out -p serial_full_name:=/dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0
+      ros2 run segwayrmp SmartCar --ros-args -r cmd_vel:=cmd_vel_out -p serial_full_name:=/dev/segway
     devices:
-      - /dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_Controller_0001-if00-port0:/dev/serial/ttySegwayUSB
+      - /dev/segway:/dev/segway
     # Interactive shell
     stdin_open: true
     tty: true
@@ -128,7 +128,7 @@ services:
   lidar:
     extends: overlay
     command: >
-      ros2 launch cps_rmp220_support robot_lidar.launch.py serial_port:=/dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_3453995662b3af4f81f4a69eba5f3f29-if00-port0
+      ros2 launch cps_rmp220_support robot_lidar.launch.py serial_port:=/dev/rplidarA1
     stdin_open: true
     tty: true
     # Networking and IPC for ROS 2
@@ -139,7 +139,10 @@ services:
     environment:
     - ROS_DOMAIN_ID=5
     devices:
-      - /dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_3453995662b3af4f81f4a69eba5f3f29-if00-port0:/dev/serial/by-id/usb-Silicon_Labs_CP2102_USB_to_UART_Bridge_3453995662b3af4f81f4a69eba5f3f29-if00-port0
+      - /dev/rplidarA1:/dev/rplidarA1 #udevrules needed for this to work:
+#       SUBSYSTEM=="tty", ATTRS{serial}=="0001", SYMLINK+="segway"
+# SUBSYSTEM=="tty", ATTRS{serial}=="3453995662b3af4f81f4a69eba5f3f29", SYMLINK+="rplidarA1"
+
 
   # localiaztion by ekf node
   ekf: