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

README.md

@@ -149,6 +149,44 @@ The sensor will activate automatically when this command runs and deactivate whe
 
 ---
 
+### RPLIDAR A1
+
+Runs in a separate container built from [lidar/Dockerfile](lidar/Dockerfile).
+
+```
+                        ┌──────────────────────────────────────┐
+                        │  sllidar_ros2 (rplidar_node)         │
+                        │                                      │
+                        │  serial 115200 baud                  │
+                        │  angle_compensate = true             │
+                        │  scan_mode = Sensitivity             │
+                        │         ▼                            │
+                        │   /dev/ttyUSB0 ──────> RPLIDAR A1   │
+                        │                                      │
+ /scan          <───────│  LaserScan @ ~10 Hz                  │
+ (sensor_msgs/          │  360° scan, range 0.15–12 m          │
+  LaserScan)            │                                      │
+                        └──────────────────────────────────────┘
+```
+
+#### Topics
+
+| Topic | Direction | Type | Description |
+|---|---|---|---|
+| `/scan` | Published | `sensor_msgs/LaserScan` | 360° laser scan in the `laser` frame |
+
+#### Configuration
+
+The LIDAR container is configured via environment variables in `.env` or `docker-compose.yml`. See the [Launching](#launching) section for details.
+
+#### Verifying LIDAR data
+
+```bash
+ros2 topic echo /scan
+```
+
+---
+
 ## Setting up the robot
 
 ### 1. Flash Raspberry Pi OS
@@ -183,29 +221,51 @@ The [ansible/](ansible/) directory contains a playbook that handles the remainin
   docker run --rm --privileged tonistiigi/binfmt --install arm64
   ```
 
-### Build the image
+### Build with Docker Compose (recommended)
 
-The Raspberry Pi is `arm64`, so the image must be built for that platform. On an amd64 host use `docker buildx`:
+Both images are defined in `docker-compose.yml`. Build them together:
 
 ```bash
-docker build --platform linux/arm64 -t raspbot_v2:latest .
+docker compose build
 ```
 
-`--load` exports the built image into the local Docker image store so it can be deployed with `docker save`.
+Or build a single service:
 
-The build is split into two stages:
+```bash
+docker compose build robot
+docker compose build lidar
+```
 
-1. **builder** — installs the Raspbot hardware library, then compiles the ROS package with `colcon`
-2. **runtime** — copies only the colcon install overlay and hardware library into a clean `ros:kilted` base; no build tools are included in the final image
+The builds are split into two stages each:
+
+1. **builder** — compiles the ROS package(s) with `colcon`; the lidar builder also clones `sllidar_ros2` from GitHub
+2. **runtime** — copies only the install overlay into a clean `ros:kilted-ros-core` base; no build tools in the final image
+
+### Build images individually
+
+```bash
+# Robot controller
+docker build --platform linux/arm64 -f robot/Dockerfile -t raspbot_v2:latest .
+
+# LIDAR
+docker build --platform linux/arm64 -f lidar/Dockerfile -t raspbot_v2_lidar:latest .
+```
 
 ---
 
 ## Deploying
 
-Once the image is built, pipe it directly to the target over SSH — no intermediate file or registry needed:
+Pipe both images directly to the target over SSH — no intermediate file or registry needed:
 
 ```bash
-docker save raspbot_v2:latest | ssh matt@raspbot-v2.local docker load
+docker save raspbot_v2:latest raspbot_v2_lidar:latest \
+  | ssh matt@raspbot-v2.local docker load
+```
+
+Then copy the compose file to the target:
+
+```bash
+scp docker-compose.yml matt@raspbot-v2.local:~/
 ```
 
 Replace `matt` with the username configured in [ansible/inventory.ini](ansible/inventory.ini).
@@ -214,19 +274,55 @@ Replace `matt` with the username configured in [ansible/inventory.ini](ansible/i
 
 ## Launching
 
-The default `CMD` starts both nodes together via the launch file. The container needs access to the I²C bus — pass only that device rather than running privileged:
+### Start everything with Docker Compose (recommended)
 
 ```bash
+docker compose up
+```
+
+This starts both the robot controller and LIDAR containers. Logs from both are interleaved in the terminal, each line prefixed with the service name. To run in the background:
+
+```bash
+docker compose up -d
+docker compose logs -f   # follow logs
+docker compose down      # stop and remove containers
+```
+
+### Environment variables
+
+Create a `.env` file in the same directory as `docker-compose.yml` to override defaults:
+
+```bash
+ROS_DOMAIN_ID=0
+LIDAR_PORT=/dev/ttyUSB0
+LIDAR_FRAME_ID=laser
+```
+
+| Variable | Default | Description |
+|---|---|---|
+| `ROS_DOMAIN_ID` | `0` | ROS 2 domain — must match on all nodes |
+| `LIDAR_PORT` | `/dev/ttyUSB0` | Host device node for the RPLIDAR |
+| `LIDAR_FRAME_ID` | `laser` | `frame_id` in published `LaserScan` messages |
+
+### Run containers individually
+
+```bash
+# Robot controller
 docker run --rm \
   --network=host \
   --device /dev/i2c-1 \
   --env ROS_DOMAIN_ID=0 \
   raspbot_v2:latest
+
+# LIDAR
+docker run --rm \
+  --network=host \
+  --device /dev/ttyUSB0 \
+  --env ROS_DOMAIN_ID=0 \
+  raspbot_v2_lidar:latest
 ```
 
-If your board exposes the controller on a different bus (check with `ls /dev/i2c-*` on the host), substitute the correct device node (e.g. `--device /dev/i2c-0`).
-
-### Overriding parameters at launch
+### Overriding robot launch parameters
 
 Launch arguments can be appended after the image name:
 
@@ -250,6 +346,14 @@ Available launch arguments:
 | `tilt_center_deg` | `60.0` | Tilt angle at startup and shutdown (degrees) |
 | `ultrasonic_rate_hz` | `10.0` | Ultrasonic sensor publish rate (Hz) |
 
+### LIDAR device permissions
+
+The RPLIDAR connects as a USB serial device. If the user running Docker is not in the `dialout` group, add them and log back in:
+
+```bash
+sudo usermod -aG dialout $USER
+```
+
 ### Sending velocity commands from the host
 
 With the container running, publish from another terminal (requires ROS 2 on the host or a second container on the same network):
@@ -301,20 +405,24 @@ ros2 topic echo /joint_states
 
 ```
 .
-├── Dockerfile                  # Two-stage production image
-├── docker-entrypoint.sh        # Sources ROS overlays before exec
-├── src/
-│   └── raspbot_v2/
-│       ├── package.xml         # ROS package manifest
-│       ├── setup.py            # ament_python build definition
-│       ├── launch/
-│       │   └── robot.launch.py               # Starts both nodes together
-│       └── raspbot_v2/
-│           ├── __init__.py
-│           ├── motor_controller_node.py      # Differential-drive motor control
-│           ├── camera_orientation_node.py    # Pan/tilt servo control
-│           └── ultrasonic_node.py            # HC-SR04 range sensor
-└── raspbot_v2_interface/       # Vendored Yahboom hardware library
-    └── Raspbot_Lib/
-        └── Raspbot_Lib.py      # I²C driver (smbus, bus 1, addr 0x2B)
+├── docker-compose.yml          # Launches robot and lidar containers together
+├── docker-entrypoint.sh        # Sources ROS overlays before exec (shared by both images)
+├── robot/
+│   ├── Dockerfile              # Robot controller image (two-stage)
+│   ├── src/
+│   │   └── raspbot_v2/
+│   │       ├── package.xml     # ROS package manifest
+│   │       ├── setup.py        # ament_python build definition
+│   │       ├── launch/
+│   │       │   └── robot.launch.py           # Starts all robot nodes together
+│   │       └── raspbot_v2/
+│   │           ├── __init__.py
+│   │           ├── motor_controller_node.py  # Differential-drive motor control
+│   │           ├── camera_orientation_node.py # Pan/tilt servo control
+│   │           └── ultrasonic_node.py        # HC-SR04 range sensor
+│   └── raspbot_v2_interface/   # Vendored Yahboom hardware library
+│       └── Raspbot_Lib/
+│           └── Raspbot_Lib.py  # I²C driver (smbus, bus 1, addr 0x2B)
+└── lidar/
+    └── Dockerfile              # RPLIDAR A1 image (two-stage, clones sllidar_ros2)
 ```

docker-compose.yml

@@ -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

lidar/Dockerfile

@@ -0,0 +1,40 @@
+# syntax=docker/dockerfile:1
+
+# ── Stage 1: build ────────────────────────────────────────────────────────────
+FROM ros:kilted AS builder
+
+SHELL ["/bin/bash", "-c"]
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    python3-colcon-common-extensions \
+    git \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /ws
+
+RUN git clone --depth 1 https://github.com/slamtec/sllidar_ros2.git src/sllidar_ros2
+
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    colcon build --packages-select sllidar_ros2
+
+# ── Stage 2: runtime ──────────────────────────────────────────────────────────
+FROM ros:kilted-ros-core
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-${ROS_DISTRO}-rclcpp \
+    ros-${ROS_DISTRO}-sensor-msgs \
+    ros-${ROS_DISTRO}-std-srvs \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY --from=builder /ws/install /ws/install
+
+# Source both ROS base and the workspace overlay on every shell/exec
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \
+    echo "source /ws/install/setup.bash"             >> /etc/bash.bashrc
+
+# Reuse the same entrypoint as the robot container (sources overlays, starts daemon)
+COPY docker-entrypoint.sh /docker-entrypoint.sh
+RUN chmod +x /docker-entrypoint.sh
+
+ENTRYPOINT ["/docker-entrypoint.sh"]
+CMD ["ros2", "launch", "sllidar_ros2", "sllidar_a1_launch.py"]

robot/Dockerfile

@@ -12,7 +12,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 WORKDIR /ws
 
 # Copy the ROS package into the standard colcon src/ layout and build it
-COPY src/raspbot_v2/ src/raspbot_v2/
+COPY robot/src/raspbot_v2/ src/raspbot_v2/
 
 RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
     colcon build --packages-select raspbot_v2
@@ -30,7 +30,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     && rm -rf /var/lib/apt/lists/*
 
 # Install the Raspbot hardware library directly into site-packages
-COPY raspbot_v2_interface/ /usr/local/lib/python3.12/dist-packages/raspbot_v2_interface/
+COPY robot/raspbot_v2_interface/ /usr/local/lib/python3.12/dist-packages/raspbot_v2_interface/
 
 # Bring across the built ROS overlay
 COPY --from=builder /ws/install /ws/install