m5p3nc3r
0174cb599f
- Add m5p3nc3r/sllidar_ros2 fork as a git subtree at lidar/sllidar_ros2/ - Dockerfile now COPYs source from the workspace instead of cloning at build time; git is no longer a build dependency - Set /scan publisher QoS to BEST_EFFORT (depth 2) for Nav2/RViz2 compat - Add lidar/README.md documenting the subtree workflow - Remove lidar/sllidar_ros2/ from .gitignore (no longer needed) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
44 lines
1.1 KiB
YAML
44 lines
1.1 KiB
YAML
# Both containers share the host network so ROS 2 DDS discovery works without
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# any extra multicast configuration. Each container is given access only to
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# the specific device it needs rather than running in privileged mode.
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services:
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robot:
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build:
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context: .
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dockerfile: robot/Dockerfile
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platforms:
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- linux/arm64
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image: raspbot_v2:latest
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network_mode: host
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devices:
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- /dev/i2c-1:/dev/i2c-1
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environment:
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- ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
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restart: unless-stopped
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lidar:
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build:
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context: .
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dockerfile: lidar/Dockerfile
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platforms:
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- linux/amd64
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- linux/arm64
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image: raspbot_v2_lidar:latest
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network_mode: host
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devices:
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- ${LIDAR_PORT:-/dev/ttyUSB0}:${LIDAR_PORT:-/dev/ttyUSB0}
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environment:
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- ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
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command:
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- ros2
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- launch
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- sllidar_ros2
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- sllidar_a1_launch.py
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- serial_port:=${LIDAR_PORT:-/dev/ttyUSB0}
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- frame_id:=${LIDAR_FRAME_ID:-laser}
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- serial_baudrate:=115200
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- angle_compensate:=true
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restart: unless-stopped
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