26 lines
813 B
YAML
26 lines
813 B
YAML
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# docker compose -f compose.navigation2.yaml up
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services:
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navigation:
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image: husarion/navigation2:humble-1.1.16-20240927
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network_mode: host
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ipc: host
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restart: unless-stopped
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volumes:
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- ./config/nav2_params.yaml:/nav2_params.yaml
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- ./maps:/maps
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- ./husarion_utils:/husarion_utils
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- ./fastdds.xml:/fastdds.xml
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- ./cyclonedds.xml:/cyclonedds.xml
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environment:
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- CYCLONEDDS_URI=file:///cyclonedds.xml
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- SAVE_MAP_PERIOD=${SAVE_MAP_PERIOD-10}
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command: >
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ros2 launch /husarion_utils/bringup_launch.py
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namespace:=pioneer${PIONEER_ID}
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observation_topic:=scan
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map:=/maps/map.yaml
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params_file:=/nav2_params.yaml
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slam:=${SLAM:-False}
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use_sim_time:=False
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