merged hokuyo and ros2aria

Signed-off-by: Jakub Delicat <jakub.delicat@pwr.edu.pl>

compose.pioneer.yaml

@@ -0,0 +1,33 @@
+# docker compose -f compose.ros2aria.yaml up
+services:
+  ros2aria-dev:
+   image: delicjusz/pioneer
+   network_mode: host
+   ipc: host
+   environment:
+    - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+    - LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/Aria/lib
+    - FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml 
+   volumes:
+    - ./fastdds.xml:/fastdds.xml
+   devices:
+    - /dev/ttyS0
+   command:  ros2 launch pioneer_bringup robot.launch.py namespace:=pioneer${PIONEER_ID}/
+
+  hokuyo:
+   image: delicjusz/hokuyo
+   network_mode: host
+   ipc: host
+   environment:
+    - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+    - FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml 
+   volumes:
+    - ./fastdds.xml:/fastdds.xml
+   devices:
+    # - /dev/hokuyo
+    - /dev/ttyACM0
+   command: >
+      ros2 run urg_node urg_node_driver  --ros-args -r 
+       __ns:=/pioneer${PIONEER_ID} -p
+      laser_frame_id:=pioneer${PIONEER_ID}/laser -p 
+      serial_port:=/dev/ttyACM0