From 2d1a08b76297dfb6dafaddc87d96f94d9d17b8ab Mon Sep 17 00:00:00 2001 From: Aaron Chong Date: Thu, 7 Nov 2024 11:57:07 +0800 Subject: [PATCH] Working locally, commented out zenohd Signed-off-by: Aaron Chong --- .github/integration-tests/docker-compose.yaml | 25 ++++++++----------- .github/minimal-nav2/Dockerfile | 4 +-- .github/minimal-zenoh-bridge/Dockerfile | 2 +- .../turtlebot3_1_zenoh_config.json5 | 2 +- 4 files changed, 15 insertions(+), 18 deletions(-) diff --git a/.github/integration-tests/docker-compose.yaml b/.github/integration-tests/docker-compose.yaml index 530d024e..c0bb0eb7 100644 --- a/.github/integration-tests/docker-compose.yaml +++ b/.github/integration-tests/docker-compose.yaml @@ -6,7 +6,6 @@ services: build: context: ../../ dockerfile: .github/minimal-nav2/Dockerfile - # container_name: minimal-nav2 stop_signal: SIGINT network_mode: host privileged: true @@ -14,27 +13,25 @@ services: 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 index 2d96ca63..cfc66b8e 100644 --- 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/$ROS_DISTRO/setup.bash && ros2 launch nav2_bringup tb3_simulation_launch.py params_file:=/params/nav2_params_edited.yaml use_rviz:=False"] diff --git a/.github/minimal-zenoh-bridge/Dockerfile b/.github/minimal-zenoh-bridge/Dockerfile index 17c434ae..89f1f188 100644 --- a/.github/minimal-zenoh-bridge/Dockerfile +++ b/.github/minimal-zenoh-bridge/Dockerfile @@ -21,4 +21,4 @@ RUN rm -rf \ /var/lib/apt/lists \ /dist -ENTRYPOINT ["bash", "-c", ". /opt/ros/$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 index f6e02a90..7f402c97 100644 --- 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.