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Go2Py_SIM
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Cyclonedds configs are added to the startup scripts

This commit is contained in:
Rooholla-KhorramBakht 2024-06-02 22:53:18 -04:00
parent 6b3e6e242f
commit 2590b1c914
6 changed files with 12 additions and 3 deletions
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3
deploy/docker/scripts/bridge_start.sh
View File

@ -1,4 +1,7 @@
source /opt/ros/humble/setup.bash
source /unitree_ros2/cyclonedds_ws/install/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
<NetworkInterface name="eth0" priority="default" multicast="default" />
</Interfaces></General></Domain></CycloneDDS>'
source /bridge_ws/install/setup.bash && ros2 launch /root/launch/bridge.launch.py

3
deploy/docker/scripts/hesai_start.sh
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@ -1,4 +1,7 @@
source /opt/ros/humble/setup.bash
source /unitree_ros2/cyclonedds_ws/install/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
<NetworkInterface name="eth0" priority="default" multicast="default" />
</Interfaces></General></Domain></CycloneDDS>'
source /hesai_ws/install/setup.bash && ros2 launch /root/launch/hesai.launch.py

3
deploy/docker/scripts/robot_description.sh
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@ -1,4 +1,7 @@
source /opt/ros/humble/setup.bash
source /unitree_ros2/cyclonedds_ws/install/setup.bash
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
<NetworkInterface name="eth0" priority="default" multicast="default" />
</Interfaces></General></Domain></CycloneDDS>'
source /ros2_ws/install/setup.bash && ros2 launch /root/launch/robot_description.launch.py

2
deploy/services/go2py-bridge.service
View File

@ -6,7 +6,7 @@ After=multi-user.target
[Service]
Restart=always
ExecStartPre=/usr/bin/docker rm -f go2py_bridge || true
ExecStart=/bin/bash -c '/usr/bin/docker run --rm --name go2py_bridge --privileged --network host -v /home/unitree/locomotion:/home/locomotion -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro --runtime nvidia go2py_bridge:latest'
ExecStart=/bin/bash -c '/usr/bin/docker run --rm --name go2py_bridge --privileged --network host -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro --runtime nvidia go2py_bridge:latest'
ExecStop=/usr/bin/docker stop -t 2 go2py_bridge
[Install]

2
deploy/services/go2py-hesai.service
View File

@ -6,7 +6,7 @@ After=multi-user.target
[Service]
Restart=always
ExecStartPre=/usr/bin/docker rm -f go2py_hesai || true
ExecStart=/bin/bash -c '/usr/bin/docker run --rm --name go2py_hesai --privileged --network host -v /home/unitree/locomotion:/home/locomotion -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro --runtime nvidia go2py_hesai:latest'
ExecStart=/bin/bash -c '/usr/bin/docker run --rm --name go2py_hesai --privileged --network host -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro --runtime nvidia go2py_hesai:latest'
ExecStop=/usr/bin/docker stop -t 2 go2py_hesai
[Install]

2
deploy/services/go2py-robot-description.service
View File

@ -6,7 +6,7 @@ After=multi-user.target
[Service]
Restart=always
ExecStartPre=/usr/bin/docker rm -f go2py_robot_description || true
ExecStart=/bin/bash -c '/usr/bin/docker run --rm --name go2py_robot_description --privileged --network host -v /home/unitree/locomotion:/home/locomotion -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro --runtime nvidia go2py_description:latest'
ExecStart=/bin/bash -c '/usr/bin/docker run --rm --name go2py_robot_description --privileged --network host -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro --runtime nvidia go2py_description:latest'
ExecStop=/usr/bin/docker stop -t 2 go2py_robot_description
[Install]