Fix hardware docker

husarion · Nov 28, 2024 · 4be5e6f · 4be5e6f
1 parent d0d201d
commit 4be5e6f
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Showing 3 changed files with 7 additions and 4 deletions.
diff --git a/docker/.env b/docker/.env
@@ -1,2 +1 @@
-SERIAL_PORT=/dev/ttyUSB0
 ROS_NAMESPACE=rosbot
diff --git a/docker/Dockerfile.hardware b/docker/Dockerfile.hardware
@@ -15,7 +15,7 @@ RUN apt-get update && apt-get install -y \
         ros-${ROS_DISTRO}-teleop-twist-keyboard && \
     # Setup workspace
     vcs import src < src/rosbot_ros/rosbot/rosbot_hardware.repos && \
-    rm -r src/rosbot_gazebo && \
+    rm -r src/rosbot_ros/rosbot_gazebo && \
     # Install dependencies
     rosdep init && \
     rosdep update --rosdistro $ROS_DISTRO && \

diff --git a/docker/compose.hardware.yaml b/docker/compose.hardware.yaml
@@ -5,11 +5,15 @@ services:
       dockerfile: docker/Dockerfile.hardware
     network_mode: host
     ipc: host
+    restart: unless-stopped
     devices:
-      - /dev/ttyUSB0
+      - ${SERIAL_PORT:-/dev/ttyUSB0}
       - /dev/bus/usb/ # FTDI
+    environment:
+      - FASTRTPS_DEFAULT_PROFILES_FILE=/shm-only.xml
+      - USER=${USER:-root}
     command: >
       ros2 launch rosbot_bringup combined.launch.py
         mecanum:=${MECANUM:-False}
-        serial_port:=/dev/ttyUSB0
+        serial_port:=${SERIAL_PORT:-/dev/ttyUSB0}
         serial_baudrate:=576000