Working locally, commented out zenohd

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Nov 7, 2024 · 2d1a08b · 2d1a08b
1 parent 3c32daf
commit 2d1a08b
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Showing 4 changed files with 15 additions and 18 deletions.
diff --git a/.github/integration-tests/docker-compose.yaml b/.github/integration-tests/docker-compose.yaml
@@ -6,35 +6,32 @@ services:
     build:
       context: ../../
       dockerfile: .github/minimal-nav2/Dockerfile
-    # container_name: minimal-nav2
     stop_signal: SIGINT
     network_mode: host
     privileged: true
     stdin_open: true
     tty: true
     environment:
       - ROS_DOMAIN_ID=42
-    # command: ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False
 
-  zenoh-bridge:
+  minimal-zenoh-bridge:
     image: minimal-zenoh-bridge
     build:
       context: ../../
       dockerfile: .github/minimal-zenoh-bridge/Dockerfile
-    # container_name: minimal-zenoh-bridge
     network_mode: host
     stdin_open: true
     tty: true
     environment:
       - ROS_DOMAIN_ID=42
-    # command: ros2 launch task_manager task_manager.launch.py params_file:=/examples/nav2_example_params.yaml
 
-  zenoh:
-    image: zenoh
-    build:
-      context: ../../
-      dockerfile: .github/minimal-zenoh/Dockerfile
-    network_mode: host
-    stdin_open: true
-    tty: true
-    # command: zenohd
+  # zenoh:
+  #   image: minimal-zenoh
+  #   # build:
+  #   #   context: ../../
+  #   #   dockerfile: .github/minimal-zenoh/Dockerfile
+  #   container_name: minimal-zenoh
+  #   network_mode: host
+  #   stdin_open: true
+  #   tty: true
+  #   # command: zenohd
diff --git a/.github/minimal-nav2/Dockerfile b/.github/minimal-nav2/Dockerfile
@@ -17,6 +17,6 @@ RUN rm -rf \
 # Modify existing params file to add initial pose
 RUN mkdir -p /params && cd /params \
   && cp /opt/ros/$ROS_DISTRO/share/nav2_bringup/params/nav2_params.yaml . \
-  && sed -z 's|amcl:\n  ros__parameters:\n|amcl:\n  ros__parameters:\n    set_initial_pose: true\n    initial_pose:{x: -2.0, y: -0.5, z: 0.0, yaw: 0.0}\n|' nav2_params.yaml > nav2_params_edited.yaml
+  && sed -z 's|amcl:\n  ros__parameters:\n|amcl:\n  ros__parameters:\n    set_initial_pose: true\n    initial_pose: {x: -2.0, y: -0.5, z: 0.0, yaw: 0.0}\n|' nav2_params.yaml > nav2_params_edited.yaml
 
-ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && ros2 launch nav2_bringup tb3_simulation_launch.py params_file:=/params/nav2_params_edited.yaml"]
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && ros2 launch nav2_bringup tb3_simulation_launch.py params_file:=/params/nav2_params_edited.yaml use_rviz:=False"]
diff --git a/.github/minimal-zenoh-bridge/Dockerfile b/.github/minimal-zenoh-bridge/Dockerfile
@@ -21,4 +21,4 @@ RUN rm -rf \
   /var/lib/apt/lists \
   /dist
 
-ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && . /zenoh-bridge/zenoh-bridge-ros2dds -c /zenoh-brdige/free_fleet/free_fleet_examples/zenoh_configs/turtlebot3_1_zenoh_config.json5"]
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && /zenoh-bridge/zenoh-bridge-ros2dds -c /zenoh-bridge/free_fleet/free_fleet_examples/zenoh_configs/turtlebot3_1_zenoh_config.json5"]
diff --git a/free_fleet_examples/zenoh_configs/turtlebot3_1_zenoh_config.json5 b/free_fleet_examples/zenoh_configs/turtlebot3_1_zenoh_config.json5
@@ -150,7 +150,7 @@
   ////
   //// mode: The bridge's mode (router, peer or client)
   ////
-  mode: "client",
+  // mode: "router",
 
   ////
   //// Which endpoints to connect to. E.g. tcp/localhost:7447.