Merge branch 'ros2' into ros2-dev-bake

CMU-cabot · Dec 19, 2024 · 1b296d2 · 1b296d2
2 parents c183da9 + 4a5a066
commit 1b296d2
Show file tree

Hide file tree

Showing 3 changed files with 29 additions and 7 deletions.
diff --git a/docker-compose-common.yaml b/docker-compose-common.yaml
@@ -235,9 +235,9 @@ services:
       service: localization-dev-base
     environment:
       # rtklib
-      RTK_STR_IN: ${RTK_STR_IN}
-      CABOT_SITE: ${CABOT_SITE} # if RTK_STR_IN is not specified, RTK_STR_IN will be loaded from CABOT_SITE
-      BAUD_UBLOX: ${BAUD_UBLOX:-230400}
+      - RTK_STR_IN
+      - CABOT_SITE # if RTK_STR_IN is not specified, RTK_STR_IN will be loaded from CABOT_SITE
+      - BAUD_UBLOX=${BAUD_UBLOX:-230400}
     tty: true
     stdin_open: true
     command: /launch_rtklib.sh
@@ -248,9 +248,9 @@ services:
       service: localization-prod-base
     environment:
       # rtklib
-      RTK_STR_IN: ${RTK_STR_IN}
-      CABOT_SITE: ${CABOT_SITE} # if RTK_STR_IN is not specified, RTK_STR_IN will be loaded from CABOT_SITE
-      BAUD_UBLOX: ${BAUD_UBLOX:-230400}
+      - RTK_STR_IN
+      - CABOT_SITE # if RTK_STR_IN is not specified, RTK_STR_IN will be loaded from CABOT_SITE
+      - BAUD_UBLOX=${BAUD_UBLOX:-230400}
     tty: true
     stdin_open: true
     command: /launch_rtklib.sh
@@ -289,14 +289,19 @@ services:
       - XAUTHORITY=/tmp/.docker.xauth
       - NVIDIA_DRIVER_CAPABILITIES=compute,graphics,utility,video,display
       - NVIDIA_VISIBLE_DEVICES=all
-      - ROS_LOG_DIR
       - CABOT_ROSBAG_BACKEND
       - CABOT_ROSBAG_COMPRESSION
       - CABOT_ROSBAG_RECORD_CAMERA
       - CABOT_ROSBAG_SEPARATE_LOG
       - CABOT_SHOW_ROS2_LOCAL_RVIZ
+# ROS2/DDS
+      - ROS_LOG_DIR
       - RMW_IMPLEMENTATION
+      - ROS_LOCALHOST_ONLY
       - ROS_DOMAIN_ID
+      - CYCLONEDDS_URI
+      - CYCLONEDDS_NETWORK_INTERFACE_NAME
+      - CYCLONEDDS_NETWORK_INTERFACE_AUTODETERMINE # set automatically by launch.sh
     volumes:
 # device, bluetooth
       - /dev:/dev

diff --git a/docker-compose-mapping-gazebo.yaml b/docker-compose-mapping-gazebo.yaml
@@ -35,9 +35,14 @@ services:
       - CABOT_MODEL
       - PLAYBAG_RATE_CARTOGRAPHER
       - PLAYBAG_RATE_PC2_CONVERT
+      # ROS2/DDS
       - ROS_LOG_DIR
       - RMW_IMPLEMENTATION
       - ROS_DOMAIN_ID
+      - ROS_LOCALHOST_ONLY
+      - CYCLONEDDS_URI
+      - CYCLONEDDS_NETWORK_INTERFACE_NAME
+      - CYCLONEDDS_NETWORK_INTERFACE_AUTODETERMINE
     volumes:
       - /dev:/dev
       - /sys/devices:/sys/devices

diff --git a/docker-compose-mapping.yaml b/docker-compose-mapping.yaml
@@ -36,9 +36,14 @@ services:
       - CABOT_MODEL
       - PLAYBAG_RATE_CARTOGRAPHER
       - PLAYBAG_RATE_PC2_CONVERT
+      # ROS2/DDS
       - ROS_LOG_DIR
       - RMW_IMPLEMENTATION
       - ROS_DOMAIN_ID
+      - ROS_LOCALHOST_ONLY
+      - CYCLONEDDS_URI
+      - CYCLONEDDS_NETWORK_INTERFACE_NAME
+      - CYCLONEDDS_NETWORK_INTERFACE_AUTODETERMINE
       # ntrip client
       - NTRIP_CLIENT # rtklib, str2str_node, or ntrip_client
       - NTRIP_CLIENT_START_AT_LAUNCH=${NTRIP_CLIENT_START_AT_LAUNCH:-0}
@@ -90,7 +95,14 @@ services:
       - XAUTHORITY=/tmp/.docker.xauth
       - NVIDIA_DRIVER_CAPABILITIES=compute,graphics,utility,video,display
       - NVIDIA_VISIBLE_DEVICES=all
+      # ROS2/DDS
       - ROS_LOG_DIR
+      - RMW_IMPLEMENTATION
+      - ROS_DOMAIN_ID
+      - ROS_LOCALHOST_ONLY
+      - CYCLONEDDS_URI
+      - CYCLONEDDS_NETWORK_INTERFACE_NAME
+      - CYCLONEDDS_NETWORK_INTERFACE_AUTODETERMINE
     volumes:
       - ./docker/home:/home/developer
       - ./cabot-navigation/cabot:/home/developer/diagnostic_ws/src/cabot