From d4a7af18c1fc42705054a1e2950c85711acdbcd8 Mon Sep 17 00:00:00 2001
From: Burak Ozter <burak.ozter@spirirobotics.com>
Date: Wed, 4 Dec 2024 13:19:30 -0400
Subject: [PATCH] add cyclone_dds to mavros2 service, remove all .env files
 which were not being used

---
 robots/spiri-mu/core/docker-compose.yaml | 12 ++----------
 1 file changed, 2 insertions(+), 10 deletions(-)

diff --git a/robots/spiri-mu/core/docker-compose.yaml b/robots/spiri-mu/core/docker-compose.yaml
index 8997267..5b26357 100644
--- a/robots/spiri-mu/core/docker-compose.yaml
+++ b/robots/spiri-mu/core/docker-compose.yaml
@@ -3,8 +3,6 @@ x-spiri-sdk-doc: |
 
 services:
   ardupilot:
-    env_file:
-      - .env
     image: git.spirirobotics.com/spiri/ardupilot:spiri-master
     command:
       - /bin/bash
@@ -17,8 +15,6 @@ services:
     network_mode: host
 
   mavproxy:
-    env_file:
-      - .env
     image: git.spirirobotics.com/spiri/services-mavproxy:main
     command: >
       mavproxy.py --non-interactive
@@ -33,9 +29,9 @@ services:
     restart: always
 
   mavros2:
-    env_file:
-      - .env
     image: git.spirirobotics.com/spiri/services-ros2-mavros:main
+    environment:
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
     command: ros2 launch mavros apm.launch fcu_url:="udp://0.0.0.0:$MAVROS2_PORT@:14555" namespace:="$ROBOT_NAME" tgt_system:="$DRONE_SYS_ID"
     ipc: host
     network_mode: host
@@ -58,8 +54,6 @@ services:
   mavros:
     #This service bridges our mavlink-based robot-coprosessor into ROS
     #In this example it connects to a simulated coprocessor.
-    env_file:
-      - .env
     image: git.spirirobotics.com/spiri/services-ros1-mavros:master
     command: rosrun mavros mavros_node __name:=spiri$DRONE_SYS_ID _fcu_url:="udp://0.0.0.0:$MAVROS1_PORT@:14559" _target_system_id:="$DRONE_SYS_ID"
     profiles:
@@ -78,8 +72,6 @@ services:
         hard: 524288
 
   ros-master:
-    env_file:
-      - .env
     image: git.spirirobotics.com/spiri/services-ros1-core:main
     command: stdbuf -o L roscore
     profiles: