.gitignore

@@ -1,3 +1,2 @@
 *.pgm
-maps/
+maps/
-__pycache__/

docker-compose.yaml

@@ -227,33 +227,13 @@ services:
       - ./config/foxglove/default.json:/foxglove/default-layout.json
 
   # USB Camera Stream
-  # cam:
+  cam:
-  #   extends: overlay
-  #   command: >
-  #     ros2 run ros2_cam_openCV cam_node
-  #   devices:
-  #     - /dev/video0:/dev/video0
-
-  # cam:
-  #   extends: overlay
-  #   command: >
-  #     ros2 launch ffmpeg_image_transport cam.launch.py
-  #   devices:
-  #     - /dev/video0:/dev/video0
-  #     - /dev/dri:/dev/dri
-  webcam:
     extends: overlay
-    image: husarion/image-transport:humble-4.2.0
+    command: >
+      ros2 run ros2_cam_openCV cam_node
     devices:
       - /dev/video0:/dev/video0
-      - /dev/dri:/dev/dri
+
-    volumes:
-      - ./:/repo
-    command: >
-      ros2 launch /repo/webcam.launch.py
-        ffmpeg_encoding:=libx264
-        ffmpeg_preset:=ultrafast
-        ffmpeg_tune:=zerolatency
 
   # ROS2 Frontier exploration
   explorer:
@@ -389,7 +369,7 @@ services:
   ros1bridge:
     image: husarion/ros1-bridge:foxy-0.9.6-20230327-stable
     command: |
-      sh /opt/ros/noetic/setup.sh && ros2 run ros1_bridge dynamic_bridge
+      ros2 run ros1_bridge dynamic_bridge
     network_mode: host
     ipc: host
     environment:
@@ -407,8 +387,8 @@ services:
     environment:
       - ROS_DOMAIN_ID=5
     restart: always
-    #depends_on:
+    depends_on:
-    #  - ros1bridge
+      - ros1bridge
     command: roslaunch webui-ros-joystick webui.launch
   olivetin:
     container_name: olivetin

webcam.launch.py

@@ -1,88 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
-from launch.conditions import IfCondition, UnlessCondition
-from launch.substitutions import TextSubstitution
-
-def generate_launch_description():
-    # Declare launch arguments
-    video_device_arg = DeclareLaunchArgument(
-        'video_device', default_value='/dev/video0',
-        description='Video device path')
-
-    pixel_format_arg = DeclareLaunchArgument(
-        'pixel_format', default_value='YUYV',
-        description='Pixel format')
-
-    output_encoding_arg = DeclareLaunchArgument(
-        'output_encoding', default_value='yuv422_yuy2',
-        description='Output encoding')
-
-    image_size_arg = DeclareLaunchArgument(
-        'image_size', default_value='[640, 480]',
-        description='Image size')
-
-    camera_frame_id_arg = DeclareLaunchArgument(
-        'camera_frame_id', default_value='camera_optical_link',
-        description='Camera frame ID')
-
-    params_file_arg = DeclareLaunchArgument(
-        'params_file', default_value='',
-        description='Path to the parameters file')
-
-    device_namespace_arg = DeclareLaunchArgument(
-        'device_namespace', default_value='camera',
-        description='Device namespace')
-
-    ffmpeg_encoding_arg = DeclareLaunchArgument(
-        'ffmpeg_encoding', default_value='libx264',
-        description='FFMPEG encoding')
-
-    ffmpeg_preset_arg = DeclareLaunchArgument(
-        'ffmpeg_preset', default_value='ultrafast',
-        description='FFMPEG preset')
-
-    ffmpeg_tune_arg = DeclareLaunchArgument(
-        'ffmpeg_tune', default_value='zerolatency',
-        description='FFMPEG tune')
-
-    # v4l2_camera node configuration
-    v4l2_camera_node = Node(
-        package='v4l2_camera',
-        executable='v4l2_camera_node',
-        name='camera',
-        namespace=LaunchConfiguration('device_namespace'),
-        parameters=[
-            {
-                'video_device': LaunchConfiguration('video_device'),
-                'pixel_format': LaunchConfiguration('pixel_format'),
-                'output_encoding': LaunchConfiguration('output_encoding'),
-                'image_size': LaunchConfiguration('image_size'),
-                'camera_frame_id': LaunchConfiguration('camera_frame_id'),
-                'camera_name': LaunchConfiguration('device_namespace'),
-                'camera_link_frame_id': [LaunchConfiguration('device_namespace'), TextSubstitution(text='_link')],
-                'ffmpeg_image_transport.encoding': LaunchConfiguration('ffmpeg_encoding'),
-                'ffmpeg_image_transport.preset': LaunchConfiguration('ffmpeg_preset'),
-                'ffmpeg_image_transport.tune': LaunchConfiguration('ffmpeg_tune'),
-            },
-            LaunchConfiguration('params_file')
-        ],
-        # Add any necessary remappings here
-    )
-
-    # Assemble the launch description
-    return LaunchDescription([
-        video_device_arg,
-        pixel_format_arg,
-        output_encoding_arg,
-        image_size_arg,
-        camera_frame_id_arg,
-        params_file_arg,
-        device_namespace_arg,
-        ffmpeg_encoding_arg,
-        ffmpeg_preset_arg,
-        ffmpeg_tune_arg,
-        v4l2_camera_node
-    ])
-