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Go2Py_SIM
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nav2 launch files are updated

This commit is contained in:
Rooholla-KhorramBakht 2024-07-27 21:39:13 -04:00
parent 30cff75c8f
commit 7e1f4501c5
2 changed files with 2 additions and 3 deletions
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3
deploy/docker/Dockerfile.nav2
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@ -32,7 +32,7 @@ RUN cd /home && mkdir nav2_ws && cd nav2_ws && mkdir src && cd src && \
# copy overlay source
ARG OVERLAY_WS
WORKDIR $OVERLAY_WS/src
RUN git clone https://github.com/ros-navigation/navigation2.git
RUN git clone https://github.com/ros-navigation/navigation2.git && git clone https://github.com/SteveMacenski/slam_toolbox.git -b ros2
# copy manifests for caching
WORKDIR /opt
@ -142,7 +142,6 @@ RUN sed --in-place \
# copy the go2py ros2 nodes
COPY ros2_nodes/m-explore-ros2 /home/nav2_ws/src/m-explore-ros2
# COPY ros2_nodes/sportmode_nav2 /home/nav2_ws/src/sportmode_nav2
# RUN cd /home/nav2_ws && source /opt/ros/rolling/setup.bash && \
# colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install

2
scripts/run_nav2.sh
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@ -41,6 +41,6 @@ if [ "$(docker ps -q -f name=$CONTAINER_NAME)" ]; then
check_docker
else
echo "Starting new container: $CONTAINER_NAME"
sudo docker run -it --rm --name $CONTAINER_NAME --privileged --network host --ipc=host -v $(pwd)/deploy/ros2_nodes/sportmode_nav2:/home/nav2/src/sportmode_nav2 -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro -v /home/unitree/Go2Py/deploy/SGNav/llm_planner:/home/llm_planner --runtime nvidia --workdir /home/nav2_ws go2py_nav2:latest
sudo docker run -it --rm --name $CONTAINER_NAME --privileged --network host --ipc=host -v $(pwd)/deploy/ros2_nodes/sportmode_nav2:/home/nav2_ws/src/sportmode_nav2 -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro -v /home/unitree/Go2Py/deploy/SGNav/llm_planner:/home/llm_planner --runtime nvidia --workdir /home/nav2_ws go2py_nav2:latest
check_docker
fi