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# docker compose -f compose.hokuyo.yaml up
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services:
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hokuyo:
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image: delicjusz/hokuyo
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network_mode: host
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ipc: host
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restart: unless-stopped
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2023-07-12 10:55:59 +02:00
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environment:
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml
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- CYCLONEDDS_URI=file:///cyclonedds.xml
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2023-07-12 10:55:59 +02:00
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volumes:
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- ./fastdds.xml:/fastdds.xml
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- ./cyclonedds.xml:/cyclonedds.xml
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devices:
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2024-01-22 11:36:55 +01:00
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- /dev/hokuyo
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2023-07-12 10:55:59 +02:00
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command: >
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ros2 run urg_node urg_node_driver --ros-args -r
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__ns:=/pioneer${PIONEER_ID} -p
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laser_frame_id:=pioneer${PIONEER_ID}/laser -p
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serial_port:=/dev/hokuyo
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