Add lider ROS node and move robot control into its own directory

2026-04-21 11:39:01 +00:00
parent 1d49e45240
commit f5ea157e21
28 changed files with 221 additions and 31 deletions
@@ -0,0 +1,42 @@
+# Both containers share the host network so ROS 2 DDS discovery works without
+# any extra multicast configuration.  Each container is given access only to
+# the specific device it needs rather than running in privileged mode.
+
+services:
+
+  robot:
+    build:
+      context: .
+      dockerfile: robot/Dockerfile
+      platforms:
+        - linux/arm64
+    image: raspbot_v2:latest
+    network_mode: host
+    devices:
+      - /dev/i2c-1:/dev/i2c-1
+    environment:
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
+    restart: unless-stopped
+
+  lidar:
+    build:
+      context: .
+      dockerfile: lidar/Dockerfile
+      platforms:
+        - linux/arm64
+    image: raspbot_v2_lidar:latest
+    network_mode: host
+    devices:
+      - ${LIDAR_PORT:-/dev/ttyUSB0}:${LIDAR_PORT:-/dev/ttyUSB0}
+    environment:
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
+    command:
+      - ros2
+      - launch
+      - sllidar_ros2
+      - sllidar_a1_launch.py
+      - serial_port:=${LIDAR_PORT:-/dev/ttyUSB0}
+      - frame_id:=${LIDAR_FRAME_ID:-laser}
+      - serial_baudrate:=115200
+      - angle_compensate:=true
+    restart: unless-stopped