From 7e1f4501c53df9368cf0415c865f6b8dd87255ce Mon Sep 17 00:00:00 2001 From: Rooholla-KhorramBakht Date: Sat, 27 Jul 2024 21:39:13 -0400 Subject: [PATCH] nav2 launch files are updated --- deploy/docker/Dockerfile.nav2 | 3 +-- scripts/run_nav2.sh | 2 +- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/deploy/docker/Dockerfile.nav2 b/deploy/docker/Dockerfile.nav2 index 048d454..ed26aec 100644 --- a/deploy/docker/Dockerfile.nav2 +++ b/deploy/docker/Dockerfile.nav2 @@ -32,7 +32,7 @@ RUN cd /home && mkdir nav2_ws && cd nav2_ws && mkdir src && cd src && \ # copy overlay source ARG OVERLAY_WS WORKDIR $OVERLAY_WS/src -RUN git clone https://github.com/ros-navigation/navigation2.git +RUN git clone https://github.com/ros-navigation/navigation2.git && git clone https://github.com/SteveMacenski/slam_toolbox.git -b ros2 # copy manifests for caching WORKDIR /opt @@ -142,7 +142,6 @@ RUN sed --in-place \ # copy the go2py ros2 nodes COPY ros2_nodes/m-explore-ros2 /home/nav2_ws/src/m-explore-ros2 # COPY ros2_nodes/sportmode_nav2 /home/nav2_ws/src/sportmode_nav2 - # RUN cd /home/nav2_ws && source /opt/ros/rolling/setup.bash && \ # colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install diff --git a/scripts/run_nav2.sh b/scripts/run_nav2.sh index aca7630..6ed9a32 100755 --- a/scripts/run_nav2.sh +++ b/scripts/run_nav2.sh @@ -41,6 +41,6 @@ if [ "$(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