go2py docker service added

Makefile

@@ -1,2 +1,12 @@
 docker:
 	@docker build --no-cache --tag go2py:latest .
+
+docker_install:
+	@cp deploy/scripts/go2py-hw-nodes.service /etc/systemd/system/
+	@systemctl enable go2py-hw-nodes.service
+	@systemctl start go2py-hw-nodes.service
+
+docker_uninstall:
+	@systemctl disable go2py-hw-nodes.service
+	@systemctl stop go2py-hw-nodes.service
+	@rm /etc/systemd/system/go2py-hw-nodes.service

deploy/launch/hw.launch.py

@@ -13,7 +13,7 @@ def generate_launch_description():
             remappings=[('cloud_in', '/go2/lidar_points'),
                         ('scan', '/go2/lidar_scans')],
             parameters=[{
-                'target_frame': 'go2/go2/hesai_lidar',
+                'target_frame': 'go2/hesai_lidar',
                 'transform_tolerance': 0.01,
                 'min_height': 0.0,
                 'max_height': 1.0,

deploy/scripts/go2py-hw-nodes.service

@@ -0,0 +1,13 @@
+[Unit]
+Description=ROS2 device driver container
+Requires=docker.service
+After=docker.service
+
+[Service]
+Restart=always
+ExecStartPre=/usr/bin/docker rm -f go2py_docker || true
+ExecStart=/bin/bash -c '/usr/bin/docker run --rm --name go2py_docker --privileged --network host -v /home/unitree/locomotion:/home/locomotion -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro --runtime nvidia go2py:latest' 
+ExecStop=/usr/bin/docker stop -t 2 go2py_docker
+
+[Install]
+WantedBy=default.target