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EDRA
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version: '3'
services:
camera:
image: t265_container
container_name: t265_container
privileged: true
network_mode: "host"
volumes:
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- /dev:/dev
environment:
- DISPLAY=$DISPLAY
- QT_X11_NO_MITSHM=1
- XAUTHORITY=/tmp/.docker.xauth
- ROS_LOCALHOST_ONLY=0
- ROS_DOMAIN_ID=1
devices:
- /dev/ttyAMA0:/dev/ttyAMA0
- /dev/ttyS0:/dev/ttyS0
command: "ros2 launch realsense2_camera rs_launch.py enable_pose:=true camera_name:=t265 device_type:=t265 fisheye_width:=848 fisheye_height:=800 unite_imu_method:=linear_interpolation"
ros2:
image: ros2_humble_image
container_name: ros2_humble_container
privileged: true
network_mode: "host"
volumes:
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- /dev:/dev
environment:
- DISPLAY=$DISPLAY
- QT_X11_NO_MITSHM=1
- XAUTHORITY=/tmp/.docker.xauth
- ROS_LOCALHOST_ONLY=0
- ROS_DOMAIN_ID=1
devices:
- /dev/ttyAMA0:/dev/ttyAMA0
- /dev/ttyS0:/dev/ttyS0
command: bash -c "source /root/ros2_ws/install/local_setup.bash && ros2 run py_pubsub listener"
micro_xrce_dds_agent:
image: micro_xrce_dds_agent_image
container_name: micro_xrce_dds_agent_container
privileged: true
network_mode: "host"
volumes:
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- /dev:/dev
environment:
- DISPLAY=$DISPLAY
- QT_X11_NO_MITSHM=1
- XAUTHORITY=/tmp/.docker.xauth
- ROS_LOCALHOST_ONLY=0
- ROS_DOMAIN_ID=1
devices:
- /dev/ttyAMA0:/dev/ttyAMA0
- /dev/ttyS0:/dev/ttyS0
command: /bin/bash
stdin_open: true
tty: true