minor fixes

Author: KalanaRatnayake

compose-physical.yaml

@@ -1,31 +1,4 @@
 services:
-  turtlebot4-slamtoolbox:
-    image: ghcr.io/collaborativeroboticslab/turtlebot4:jazzy
-    command: ["ros2", "launch", "turtlebot4_navigation", "slam.launch.py"]
-    # command: ["ros2", "launch", "turtlebot4_navigation", "localization.launch.py", "map:=crlab.yaml"]
-    environment:
-      - ROS_DOMAIN_ID=${ROBOT_ROS_DOMAIN_ID:-10}
-      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-      - ROS_DISCOVERY_SERVER=${ROBOT_ROS_DISCOVERY_SERVER:-10.0.0.192:11811}
-    restart: unless-stopped
-    privileged: true
-    network_mode: host
-    ipc: host
-
-  turtlebot4-nav2:
-    image: ghcr.io/collaborativeroboticslab/turtlebot4:jazzy
-    command: ["ros2", "launch", "turtlebot4_navigation", "nav2.launch.py"]
-    environment:
-      - ROS_DOMAIN_ID=${ROBOT_ROS_DOMAIN_ID:-10}
-      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-      - ROS_DISCOVERY_SERVER=${ROBOT_ROS_DISCOVERY_SERVER:-10.0.0.192:11811}
-    restart: unless-stopped
-    privileged: true
-    network_mode: host
-    ipc: host
-    depends_on:
-      - turtlebot4-slamtoolbox
-
   turtlebot4-rviz:
     image: ghcr.io/collaborativeroboticslab/turtlebot4:jazzy
     command: ["ros2", "launch", "turtlebot4_viz", "view_navigation.launch.py"]
@@ -44,8 +17,6 @@ services:
     ipc: host
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw    # GUI related
-    depends_on:
-      - turtlebot4-nav2
 
   turtlebot4-workspace:
     image: ghcr.io/collaborativeroboticslab/turtlebot4-workspace:jazzy

compose.yaml

@@ -2,7 +2,7 @@ services:
   turtlebot4-discovery:
     image: ghcr.io/collaborativeroboticslab/turtlebot4-discovery:jazzy
     environment:
-      - ROS_DOMAIN_ID=0
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
       - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
       - SERVER_ID=${SERVER_ID:-0}
       - SERVER_IP=${SERVER_IP:-0.0.0.0}
@@ -13,7 +13,7 @@ services:
 
   turtlebot4-simulation:
     image: ghcr.io/collaborativeroboticslab/turtlebot4-simulation:jazzy
-    command: ["ros2", "launch", "turtlebot4_gz_bringup", "turtlebot4_gz.launch.py", "use_sim_time:=true"]
+    command: ["ros2", "launch", "turtlebot4_gz_bringup", "turtlebot4_gz.launch.py", "headless:=false", "use_sim_time:=true", "nav2:=true", "slam:=true"]
     environment:
       - PYTHONUNBUFFERED=1                # GUI related
       - DISPLAY                           # GUI related
@@ -23,7 +23,6 @@ services:
       - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
       - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
       - ROS_DISCOVERY_SERVER=${ROS_DISCOVERY_SERVER:-127.0.0.1:11811}
-      - ROS_SUPER_CLIENT=1
     restart: unless-stopped
     privileged: true
     network_mode: host
@@ -47,7 +46,6 @@ services:
       - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
       - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
       - ROS_DISCOVERY_SERVER=${ROS_DISCOVERY_SERVER:-127.0.0.1:11811}
-      - ROS_SUPER_CLIENT=1
     restart: unless-stopped
     privileged: true
     network_mode: host
@@ -63,7 +61,6 @@ services:
       - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
       - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
       - ROS_DISCOVERY_SERVER=${ROS_DISCOVERY_SERVER:-127.0.0.1:11811}
-      - ROS_SUPER_CLIENT=1
       - NO_AT_BRIDGE=1
     restart: unless-stopped
     tty: true

example.env

@@ -1,7 +1,7 @@
 SERVER_ID=0
 SERVER_IP=0.0.0.0
 SERVER_PORT=11811
-ROS_DOMAIN_ID=0
+ROS_DOMAIN_ID=10
 ROS_DISCOVERY_SERVER=127.0.0.1:11811
 ROBOT_ROS_DOMAIN_ID=10
-ROBOT_ROS_DISCOVERY_SERVER=10.42.0.1:11811
+ROBOT_ROS_DISCOVERY_SERVER=10.0.0.192:11811

turtlebot4/Dockerfile

@@ -14,8 +14,6 @@ RUN apt-get update && \
       ros-jazzy-turtlebot4-navigation \
       ros-jazzy-turtlebot4-node \
       ros-jazzy-turtlebot4-desktop \
-      ros-jazzy-rmw-fastrtps-cpp \
-      ros-jazzy-rmw-cyclonedds-cpp \
       ros-jazzy-navigation2 \
       ros-jazzy-nav2-bringup \
       ros-jazzy-slam-toolbox && \