ellensohn/ros2_rmp
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update

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This commit is contained in:
Björn Ellensohn 2023-08-28 12:16:09 +02:00
parent 09ffd31be4
commit de13a7da68
1 changed files with 7 additions and 4 deletions
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11
docker-compose.yaml
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@ -89,9 +89,9 @@ services:
controller: controller:
extends: base extends: base
command: > 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: 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 # Interactive shell
stdin_open: true stdin_open: true
tty: true tty: true
@ -128,7 +128,7 @@ services:
lidar: lidar:
extends: overlay extends: overlay
command: > 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 stdin_open: true
tty: true tty: true
# Networking and IPC for ROS 2 # Networking and IPC for ROS 2
@ -139,7 +139,10 @@ services:
environment: environment:
- ROS_DOMAIN_ID=5 - ROS_DOMAIN_ID=5
devices: 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 # localiaztion by ekf node
ekf: ekf: