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apl-ocean-engineering · Aug 27, 2024 · 1db3aa7 · 1db3aa7
1 parent 3b33a69
commit 1db3aa7
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Showing 5 changed files with 27 additions and 8 deletions.
diff --git a/compose/blue_sim/apl_env.sh b/compose/blue_sim/apl_env.sh
@@ -1,2 +1,2 @@
-export BLUE_GITHUB_REPO=apl-ocean-engineering/blue
-export BLUE_ROS_DISTRO=rolling
+export BLUE_GITHUB_REPO=robotic-decision-making-lab/blue
+export BLUE_ROS_DISTRO=jazzy
diff --git a/compose/blue_sim/docker-compose.yaml b/compose/blue_sim/docker-compose.yaml
@@ -2,6 +2,7 @@ services:
   blue:
     image: ghcr.io/${BLUE_GITHUB_REPO:?Github repo not set}:${BLUE_ROS_DISTRO:-rolling}-desktop
     environment:
+      - ROS_DOMAIN_ID=2
       - DISPLAY=${DISPLAY}
       - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
       - LIBGL_ALWAYS_SOFTWARE=1
@@ -23,9 +24,8 @@ services:
       - ../../../bluerov_deployment:/home/ubuntu/ws_blue/src/bluerov_deployment
       - ../../../auv_controllers:/home/ubuntu/ws_blue/src/auv_controllers
       - ../../../mobile_to_maritime:/home/ubuntu/ws_blue/src/mobile_to_maritime
-      - ../../../blue:/home/ubuntu/ws_blue/src/blue
-    networks:
-      - ros2_backend
+      - ../../../blue-nav2:/home/ubuntu/ws_blue/src/blue
+      - ../../../blue_nav2:/home/ubuntu/ws_blue/src/blue_nav2
     # Launch sim directly
     entrypoint: [ "/bin/bash", "-i", "-c" ]
     command: [ "ros2 launch blue_demos bluerov2_demo.launch.yaml use_sim:=true" ]

diff --git a/compose/blue_sim_nvidia/apl_env.sh b/compose/blue_sim_nvidia/apl_env.sh
@@ -1,2 +1,2 @@
 export BLUE_GITHUB_REPO=apl-ocean-engineering/blue
-export BLUE_ROS_DISTRO=iron
+export BLUE_ROS_DISTRO=rolling
diff --git a/compose/blue_sim_nvidia/docker-compose.yaml b/compose/blue_sim_nvidia/docker-compose.yaml
@@ -28,5 +28,24 @@ services:
       - /dev:/dev
       - /tmp/.X11-unix:/tmp/.X11-unix
       - ../../../bluerov_deployment:/home/ubuntu/ws_blue/src/bluerov_deployment
+      - ../../../auv_controllers:/home/ubuntu/ws_blue/src/auv_controllers
+      - ../../../mobile_to_maritime:/home/ubuntu/ws_blue/src/mobile_to_maritime
       - ../../../blue:/home/ubuntu/ws_blue/src/blue
-    command: tail -f /dev/null
+    # Launch sim directly
+    entrypoint: [ "/bin/bash", "-i", "-c" ]
+    command: [ "ros2 launch blue_demos bluerov2_demo.launch.yaml use_sim:=true" ]
+
+  zenoh:
+    image: eclipse/zenoh-bridge-ros2dds:latest
+    ports:
+      - 7447:7447
+      - 7448:7448
+    environment:
+      ROS_DOMAIN_ID: 0
+      ROS_DISTRO: ${BLUE_ROS_DISTRO}
+
+  foxglove-bridge:
+    image: ghcr.io/apl-ocean-engineering/blue-foxglove-bridge-docker:${BLUE_ROS_DISTRO}
+    ports:
+      - 8765:8765
+
diff --git a/docking_demo/package.xml b/docking_demo/package.xml
@@ -16,7 +16,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <exec_depend>blue</exec_depend>
+  <exec_depend>blue_bringup</exec_depend>
   <exec_depend>teleop_twist_keyboard</exec_depend>
   <exec_depend>joy_teleop</exec_depend>
   <exec_depend>joy_linux</exec_depend>