- mount only cabot_sites for mapping service

- fix, play_bag.sh is not working DCO 1.1 Signed-off-by: Tatsuya Ishihara <[email protected]>
CMU-cabot · Jan 10, 2025 · d59ef79 · d59ef79
1 parent 94fa5b9
commit d59ef79
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Showing 3 changed files with 8 additions and 5 deletions.
diff --git a/docker-compose-mapping-gazebo.yaml b/docker-compose-mapping-gazebo.yaml
@@ -53,7 +53,6 @@ services:
       # home
       - ./docker/home:/home/developer
       # code
-      - ./cabot-navigation/cabot_site_pkg/${CABOT_SITE}:/home/developer/mapping_ws/install/${CABOT_SITE}
       - ./cabot-navigation/cabot_sites:/home/developer/mapping_ws/src/cabot_sites
       - ./cabot-drivers/cabot_serial:/home/developer/mapping_ws/src/cabot_serial
       - ./cabot-navigation/cabot_mf_localization:/home/developer/mapping_ws/src/cabot_mf_localization

diff --git a/docker-compose-mapping.yaml b/docker-compose-mapping.yaml
@@ -68,7 +68,6 @@ services:
       # home
       - ./docker/home:/home/developer
       # code
-      - ./cabot-navigation/cabot_site_pkg/${CABOT_SITE}:/home/developer/mapping_ws/install/${CABOT_SITE}
       - ./cabot-navigation/cabot_sites:/home/developer/mapping_ws/src/cabot_sites
       - ./cabot-common/cabot_common:/home/developer/mapping_ws/src/cabot_common # log_redirector
       - ./cabot-common/cabot_msgs:/home/developer/mapping_ws/src/cabot_msgs # cabot_common dependency

diff --git a/tools/play_bag.sh b/tools/play_bag.sh
@@ -3,6 +3,7 @@
 function help {
     echo "Usage: $0 [<options>] <bag_file_path>"
     echo "-h          show this help"
+    echo "-d          development"
     echo "-r <rate>   play bag rate"
     echo "-s <offset> play bag offset, bigger than 0"
     echo "-q          open with rqt_bag"
@@ -16,10 +17,11 @@ scriptdir=`pwd`
 
 cd $scriptdir/../
 
+profile=prod
 rate=1.0
 start=0.01
 rqt_bag=0
-while getopts "hr:s:q" arg; do
+while getopts "hdr:s:q" arg; do
     case $arg in
 	h)
 	    help
@@ -28,6 +30,9 @@ while getopts "hr:s:q" arg; do
         r)
             rate=$OPTARG
             ;;
+	d)
+	    profile=dev
+	    ;;
 	s)
 	    start=$OPTARG
 	    ;;
@@ -57,9 +62,9 @@ fi
 echo $bag
 
 if [[ $rqt_bag -eq 1 ]]; then
-    com="CABOT_BAG_MOUNT=$bag docker compose -f docker-compose-bag.yaml run --rm bag ros2 run rqt_bag rqt_bag /ros2_topics"
+    com="CABOT_BAG_MOUNT=$bag docker compose -f docker-compose-bag.yaml run --rm bag-$profile ros2 run rqt_bag rqt_bag /ros2_topics"
 else
-    com="CABOT_BAG_MOUNT=$bag docker compose -f docker-compose-bag.yaml run --rm bag /launch.sh play -r $rate -s $start /ros2_topics"
+    com="CABOT_BAG_MOUNT=$bag docker compose -f docker-compose-bag.yaml run --rm bag-$profile /launch.sh play -r $rate -s $start /ros2_topics"
 fi
 echo $com
 eval $com