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Go2Py
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dock dockerfile updated

This commit is contained in:
Rooholla-KhorramBakht 2024-02-08 20:37:11 -05:00
parent f452ab732d
commit f163798f20
2 changed files with 6 additions and 6 deletions
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10
Dockerfile → Dockerfile.dock
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@ -20,15 +20,15 @@ cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/set
RUN echo "source /opt/ros/humble/setup.bash" >> /usr/local/bin/scripts/workspace-entrypoint.sh RUN echo "source /opt/ros/humble/setup.bash" >> /usr/local/bin/scripts/workspace-entrypoint.sh
RUN echo "source /unitree_ros2/cyclonedds_ws/install/setup.bash" >> /usr/local/bin/scripts/workspace-entrypoint.sh RUN echo "source /unitree_ros2/cyclonedds_ws/install/setup.bash" >> /usr/local/bin/scripts/workspace-entrypoint.sh
RUN echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /usr/local/bin/scripts/workspace-entrypoint.sh RUN echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /usr/local/bin/scripts/workspace-entrypoint.sh
RUN echo "export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces> <NetworkInterface name="eth0" priority="default" multicast="default" /> </Interfaces></General></Domain></CycloneDDS>'" >> /usr/local/bin/scripts/workspace-entrypoint.sh # RUN echo "export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces> <NetworkInterface name="eth0" priority="default" multicast="default" /> </Interfaces></General></Domain></CycloneDDS>'" >> /usr/local/bin/scripts/workspace-entrypoint.sh
# copy the go2py ros2 nodes # copy the go2py ros2 nodes
COPY deploy/ros2_ws/src /ros2_ws/src COPY deploy/dock_ws/src /dock_ws/src
RUN cd /ros2_ws && source /opt/ros/humble/setup.bash && colcon build --symlink-install RUN cd /dock_ws && source /opt/ros/humble/setup.bash && colcon build --symlink-install
# Compile the C++ hypervisor bridge # Compile the C++ hypervisor bridge
COPY cpp_bridge /cpp_bridge COPY deploy/dds_bridge /dds_bridge
WORKDIR /cpp_bridge WORKDIR /dds_bridge
RUN ./install.sh && mkdir build && cd build && cmake .. && make RUN ./install.sh && mkdir build && cd build && cmake .. && make
# Copy the script to start the nodes # Copy the script to start the nodes

2
Makefile
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@ -1,5 +1,5 @@
docker: docker:
@docker build --no-cache --tag go2py:latest . @docker build --no-cache --tag go2py:latest -f Dockerfile.dock .
docker_install: docker_install:
@cp deploy/scripts/go2py-hw-nodes.service /etc/systemd/system/ @cp deploy/scripts/go2py-hw-nodes.service /etc/systemd/system/