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feature/multi-robots-types #12

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aqua3 merged 20 commits from feature/multi-robots-types into master 2024-12-05 11:36:57 -04:00
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1
.gitignore vendored
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@ -1,3 +1,4 @@
docs/build/
.vscode
*.pyc
survey/

1
docker-compose.yml
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@ -14,6 +14,7 @@ services:
XDG_RUNTIME_DIR: "${XDG_RUNTIME_DIR}"
ROS_MASTER_URI: "http://ros-master:11311"
RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
SDK_ROOT: ${PWD}
volumes:
# X11 socket

15
robots/spiri-mu/camera_capture/docker-compose.yaml Normal file
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@ -0,0 +1,15 @@
x-spiri-sdk-doc: Capture camera images for mapping
services:
camera-capture:
ipc: host
network_mode: host
restart: unless-stopped
image: restreamio/gstreamer:2024-11-14T15-53-57Z-prod
volumes:
- ${SDK_ROOT}/survey/${ROBOT_NAME}:/survey
environment:
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
command: sh -c "rm /survey/* && gst-launch-1.0 -vc udpsrc port=$GSTREAMER_UDP_PORT close-socket=false auto-multicast=true ! application/x-rtp, payload=96 ! rtph264depay ! decodebin3 ! videoconvert ! videorate ! video/x-raw,framerate=1/2 ! jpegenc ! multifilesink location=/survey/img_"frame%d".jpg throttle-time=1"