35 lines
1.0 KiB
YAML
35 lines
1.0 KiB
YAML
# docker compose -f compose.ros2aria.yaml up
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services:
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ros2aria-dev:
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image: delicjusz/pioneer
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network_mode: host
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ipc: host
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environment:
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- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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- LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/Aria/lib
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- FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml
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- ROS_DISCOVERY_SERVER=10.104.16.240:11811
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volumes:
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- ./fastdds.xml:/fastdds.xml
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devices:
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- /dev/ttyS0
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command: ros2 launch pioneer_bringup robot.launch.py namespace:=pioneer${PIONEER_ID}/
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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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environment:
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- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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- FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml
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- ROS_DISCOVERY_SERVER=10.104.16.240:11811
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volumes:
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- ./fastdds.xml:/fastdds.xml
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devices:
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# - /dev/hokuyo
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- /dev/ttyACM0
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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/ttyACM0 |