From 06d9943f3e448cd3fc347c4413feb1a26baee641 Mon Sep 17 00:00:00 2001
From: dominikn <dominik.nwk@gmail.com>
Date: Tue, 5 Dec 2023 19:38:24 +0100
Subject: [PATCH] added ros2router to demo setup

---
 tools/compose.yaml | 34 ++++++++++++++++++++++++++++++++--
 1 file changed, 32 insertions(+), 2 deletions(-)

diff --git a/tools/compose.yaml b/tools/compose.yaml
index 1c3a93fd..5e7da281 100644
--- a/tools/compose.yaml
+++ b/tools/compose.yaml
@@ -10,13 +10,43 @@ services:
     build:
       context: ../
       dockerfile: tools/Dockerfile
+    network_mode: host
+    ipc: host
     devices:
-      - ${SERIAL_PORT-:/dev/null}
+      - ${SERIAL_PORT:?err}
     environment:
-      - ROS_LOCALHOST_ONLY=1
+      - ROS_LOCALHOST_ONLY=0
+      - ROS_DOMAIN_ID=42
+      - FASTRTPS_DEFAULT_PROFILES_FILE=/shm-only.xml
     command: >
       ros2 launch rosbot_bringup combined.launch.py
         mecanum:=${MECANUM:-False}
         serial_port:=$SERIAL_PORT
         serial_baudrate:=576000
         namespace:=robot1
+
+  ros2router:
+    image: husarnet/ros2router:1.4.0
+    network_mode: host
+    ipc: host
+    environment:
+      - USE_HUSARNET=FALSE
+      - ROS_LOCALHOST_ONLY=1
+      - ROS_DISTRO
+      - |
+        LOCAL_PARTICIPANT=
+          - name: LocalParticipant
+            kind: local
+            domain: 0
+            transport: udp
+          - name: LocalDockerParticipant
+            kind: local
+            domain: 42
+            transport: shm
+      - |
+        FILTER=
+          allowlist:
+            - name: "rt/robot1/cmd_vel"
+              type: "geometry_msgs::msg::dds_::Twist_"
+          blocklist: []
+          builtin-topics: []