From 1db3aa7543e2723398332cfa85394fa2bd352ada Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 27 Aug 2024 15:27:57 -0700
Subject: [PATCH] Merged in latest

---
 compose/blue_sim/apl_env.sh                 |  4 ++--
 compose/blue_sim/docker-compose.yaml        |  6 +++---
 compose/blue_sim_nvidia/apl_env.sh          |  2 +-
 compose/blue_sim_nvidia/docker-compose.yaml | 21 ++++++++++++++++++++-
 docking_demo/package.xml                    |  2 +-
 5 files changed, 27 insertions(+), 8 deletions(-)

diff --git a/compose/blue_sim/apl_env.sh b/compose/blue_sim/apl_env.sh
index 40e8bde..ba5ce7a 100644
--- 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
index 606638c..2a503d5 100644
--- 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
index 11eb320..40e8bde 100644
--- 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
index bbcbd39..d6523bd 100644
--- 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
index c1a9190..2f350b4 100644
--- 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>