From 2590b1c9148e4d6f6a7da934b182d7aadc5408d6 Mon Sep 17 00:00:00 2001 From: Rooholla-KhorramBakht Date: Sun, 2 Jun 2024 22:53:18 -0400 Subject: [PATCH] Cyclonedds configs are added to the startup scripts --- deploy/docker/scripts/bridge_start.sh | 3 +++ deploy/docker/scripts/hesai_start.sh | 3 +++ deploy/docker/scripts/robot_description.sh | 3 +++ deploy/services/go2py-bridge.service | 2 +- deploy/services/go2py-hesai.service | 2 +- deploy/services/go2py-robot-description.service | 2 +- 6 files changed, 12 insertions(+), 3 deletions(-) diff --git a/deploy/docker/scripts/bridge_start.sh b/deploy/docker/scripts/bridge_start.sh index 209c7bd..5823081 100644 --- a/deploy/docker/scripts/bridge_start.sh +++ b/deploy/docker/scripts/bridge_start.sh @@ -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=' + + ' source /bridge_ws/install/setup.bash && ros2 launch /root/launch/bridge.launch.py \ No newline at end of file diff --git a/deploy/docker/scripts/hesai_start.sh b/deploy/docker/scripts/hesai_start.sh index 8a8e48c..f3507d5 100644 --- a/deploy/docker/scripts/hesai_start.sh +++ b/deploy/docker/scripts/hesai_start.sh @@ -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=' + + ' source /hesai_ws/install/setup.bash && ros2 launch /root/launch/hesai.launch.py \ No newline at end of file diff --git a/deploy/docker/scripts/robot_description.sh b/deploy/docker/scripts/robot_description.sh index e8f9482..518e25e 100644 --- a/deploy/docker/scripts/robot_description.sh +++ b/deploy/docker/scripts/robot_description.sh @@ -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=' + + ' source /ros2_ws/install/setup.bash && ros2 launch /root/launch/robot_description.launch.py \ No newline at end of file diff --git a/deploy/services/go2py-bridge.service b/deploy/services/go2py-bridge.service index a21330f..206425b 100644 --- a/deploy/services/go2py-bridge.service +++ b/deploy/services/go2py-bridge.service @@ -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] diff --git a/deploy/services/go2py-hesai.service b/deploy/services/go2py-hesai.service index 872160e..57d863c 100644 --- a/deploy/services/go2py-hesai.service +++ b/deploy/services/go2py-hesai.service @@ -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] diff --git a/deploy/services/go2py-robot-description.service b/deploy/services/go2py-robot-description.service index 74e6cc2..8a760aa 100644 --- a/deploy/services/go2py-robot-description.service +++ b/deploy/services/go2py-robot-description.service @@ -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]