From 6e17afc9809f7180cf19c2e079b10b3caf6ff71d Mon Sep 17 00:00:00 2001
From: Rooholla-KhorramBakht <learn.kho@gmail.com>
Date: Wed, 8 May 2024 05:40:59 +0800
Subject: [PATCH] nav2 docker added and bridge docker bug is fixed.

---
 deploy/docker/Dockerfile.bridge |  2 +-
 deploy/docker/Dockerfile.nav2   | 30 ++++++++++++++++++++++++++++++
 scripts/nav2_docker_start.sh    |  1 +
 3 files changed, 32 insertions(+), 1 deletion(-)
 create mode 100644 deploy/docker/Dockerfile.nav2
 create mode 100755 scripts/nav2_docker_start.sh

diff --git a/deploy/docker/Dockerfile.bridge b/deploy/docker/Dockerfile.bridge
index cee6953..56506d1 100644
--- a/deploy/docker/Dockerfile.bridge
+++ b/deploy/docker/Dockerfile.bridge
@@ -20,7 +20,7 @@ cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/set
 
 # copy the go2py ros2 nodes
 COPY ros2_nodes/go2py_bridge /bridge_ws/src/go2py_bridge
-COPY ros2_nodes/go2py_common /bridge_ws/src/go2py_common
+COPY ros2_nodes/go2py_messages /bridge_ws/src/go2py_messages
 RUN cd /bridge_ws && source /opt/ros/humble/setup.bash && source /unitree_ros2/cyclonedds_ws/install/setup.bash && colcon build --symlink-install
 
 # Copy the script to start the nodes
diff --git a/deploy/docker/Dockerfile.nav2 b/deploy/docker/Dockerfile.nav2
new file mode 100644
index 0000000..bef1981
--- /dev/null
+++ b/deploy/docker/Dockerfile.nav2
@@ -0,0 +1,30 @@
+# FROM isaac_ros_dev-aarch64
+FROM ros:humble
+ENV DEBIAN_FRONTEND=noninteractive
+SHELL ["/bin/bash", "-c"]
+# uodate and install dependencies 
+RUN apt-get update && apt-get install -y \
+    ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
+    libyaml-cpp-dev \
+    libboost-all-dev\
+    build-essential \
+    cmake \
+    git \
+    ros-humble-nav2-* ros-humble-navigation2 \
+    && rm -rf /var/lib/apt/lists/*
+
+# Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree
+RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
+git clone https://github.com/ros2/rmw_cyclonedds -b humble && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
+cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/setup.bash && colcon build
+
+# copy the go2py ros2 nodes
+#COPY ros2_nodes/lidar_node /hesai_ws/src/lidar_node
+#RUN cd /hesai_ws && source /opt/ros/humble/setup.bash && colcon build --symlink-install
+
+# Copy the script to start the nodes
+#COPY docker/scripts /root/scripts
+#COPY launch_files /root/launch
+# set the entrypoint to bash
+ENTRYPOINT ["/bin/bash"]
+#ENTRYPOINT ["/bin/bash", "/root/scripts/hesai_start.sh"]
diff --git a/scripts/nav2_docker_start.sh b/scripts/nav2_docker_start.sh
new file mode 100755
index 0000000..2f09e3e
--- /dev/null
+++ b/scripts/nav2_docker_start.sh
@@ -0,0 +1 @@
+docker run --rm -it --privileged --network host -v $(pwd)/deploy/ros2_nodes/sportmode_nav2:/home/nav2_ws/src/sportmode_nav2 -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro --runtime nvidia go2py_nav2:latest
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