From e3b6e324892cbc139feb8634f82d25185bd21914 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Mon, 18 Sep 2023 12:02:15 +0200 Subject: [PATCH] update: oakd --- docker-compose.yaml | 17 ++++++++++++++++- docker/Dockerfile | 2 +- overlay.repos | 7 ++++++- 3 files changed, 23 insertions(+), 3 deletions(-) diff --git a/docker-compose.yaml b/docker-compose.yaml index a5b11f5..22592c2 100644 --- a/docker-compose.yaml +++ b/docker-compose.yaml @@ -382,4 +382,19 @@ services: environment: - ROS_DOMAIN_ID=5 - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp - - ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here \ No newline at end of file + - ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here + + + # ROS2 oak-d-lite camera + oakd: + extends: overlay + command: > + ros2 launch depthai_examples stereo.launch.py + stdin_open: true + tty: true + # Networking and IPC for ROS 2 + #network_mode: host + ipc: host + environment: + - ROS_DOMAIN_ID=5 + - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \ No newline at end of file diff --git a/docker/Dockerfile b/docker/Dockerfile index 54b3e41..f555381 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -85,7 +85,7 @@ RUN vcs import < overlay.repos WORKDIR /overlay_ws -RUN echo "update overlay 22.08.2023" +RUN echo "update overlay 18.09.2023" RUN source /rmp_ws/install/setup.bash \ && apt-get update \ diff --git a/overlay.repos b/overlay.repos index 25e311c..59bfb91 100644 --- a/overlay.repos +++ b/overlay.repos @@ -13,4 +13,9 @@ repositories: ros2-exploration: type: git url: https://github.com/robo-friends/m-explore-ros2.git - version: feature/slam_toolbox_compat \ No newline at end of file + version: feature/slam_toolbox_compat + + oak-d-lite: + type: git + url: https://github.com/luxonis/depthai-ros + version: humble \ No newline at end of file