From 10d6bd0c8be4a837962ff00b849ad901d505f7f0 Mon Sep 17 00:00:00 2001 From: Alex Davies Date: Thu, 14 Nov 2024 13:39:43 -0400 Subject: [PATCH] Added virtual camera --- robots/spiri-mu/virtual_camera/Dockerfile | 5 +++++ robots/spiri-mu/virtual_camera/docker-compose.yaml | 6 ++++++ 2 files changed, 11 insertions(+) create mode 100644 robots/spiri-mu/virtual_camera/Dockerfile create mode 100644 robots/spiri-mu/virtual_camera/docker-compose.yaml diff --git a/robots/spiri-mu/virtual_camera/Dockerfile b/robots/spiri-mu/virtual_camera/Dockerfile new file mode 100644 index 0000000..31bd2c4 --- /dev/null +++ b/robots/spiri-mu/virtual_camera/Dockerfile @@ -0,0 +1,5 @@ +FROM git.spirirobotics.com/spiri/services-ros2-mavros:main + +RUN apt-get update +RUN apt-get --yes install ros-${ROS_DISTRO}-ros-gz-bridge + diff --git a/robots/spiri-mu/virtual_camera/docker-compose.yaml b/robots/spiri-mu/virtual_camera/docker-compose.yaml new file mode 100644 index 0000000..40b797d --- /dev/null +++ b/robots/spiri-mu/virtual_camera/docker-compose.yaml @@ -0,0 +1,6 @@ + +services: + front-gimbal: + # image: git.spirirobotics.com/spiri/services-ros2-mavros:main + build: ./ + command: ros2 run ros_gz_bridge parameter_bridge /world/${WORLD_NAME}/model/${ROBOT_NAME}/link/pitch_link/sensor/camera/image@sensor_msgs/msg/Image@gz.msgs.Image