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spiri-sdk
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add cyclone_dds to mavros2 service, remove all .env files which were not being used

This commit is contained in:
Burak Ozter 2024-12-04 13:19:30 -04:00
parent 7f3487f98c
commit d4a7af18c1
1 changed files with 2 additions and 10 deletions
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12
robots/spiri-mu/core/docker-compose.yaml
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@ -3,8 +3,6 @@ x-spiri-sdk-doc: |
services: services:
ardupilot: ardupilot:
env_file:
- .env
image: git.spirirobotics.com/spiri/ardupilot:spiri-master image: git.spirirobotics.com/spiri/ardupilot:spiri-master
command: command:
- /bin/bash - /bin/bash
@ -17,8 +15,6 @@ services:
network_mode: host network_mode: host
mavproxy: mavproxy:
env_file:
- .env
image: git.spirirobotics.com/spiri/services-mavproxy:main image: git.spirirobotics.com/spiri/services-mavproxy:main
command: > command: >
mavproxy.py --non-interactive mavproxy.py --non-interactive
@ -33,9 +29,9 @@ services:
restart: always restart: always
mavros2: mavros2:
env_file:
- .env
image: git.spirirobotics.com/spiri/services-ros2-mavros:main 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:="$DRONE_SYS_ID" command: ros2 launch mavros apm.launch fcu_url:="udp://0.0.0.0:$MAVROS2_PORT@:14555" namespace:="$ROBOT_NAME" tgt_system:="$DRONE_SYS_ID"
ipc: host ipc: host
network_mode: host network_mode: host
@ -58,8 +54,6 @@ services:
mavros: mavros:
#This service bridges our mavlink-based robot-coprosessor into ROS #This service bridges our mavlink-based robot-coprosessor into ROS
#In this example it connects to a simulated coprocessor. #In this example it connects to a simulated coprocessor.
env_file:
- .env
image: git.spirirobotics.com/spiri/services-ros1-mavros:master 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:="$DRONE_SYS_ID" command: rosrun mavros mavros_node __name:=spiri$DRONE_SYS_ID _fcu_url:="udp://0.0.0.0:$MAVROS1_PORT@:14559" _target_system_id:="$DRONE_SYS_ID"
profiles: profiles:
@ -78,8 +72,6 @@ services:
hard: 524288 hard: 524288
ros-master: ros-master:
env_file:
- .env
image: git.spirirobotics.com/spiri/services-ros1-core:main image: git.spirirobotics.com/spiri/services-ros1-core:main
command: stdbuf -o L roscore command: stdbuf -o L roscore
profiles: profiles: