From 27026bf064602b31cfece42ea2b339a8948576b8 Mon Sep 17 00:00:00 2001
From: Matas Keras <matas.keras@spirirobotics.com>
Date: Tue, 4 Jul 2023 14:37:54 -0400
Subject: [PATCH] launches automatically

---
 Docker_PX4/Dockerfile | 2 +-
 compose.yaml          | 9 +++++++--
 2 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/Docker_PX4/Dockerfile b/Docker_PX4/Dockerfile
index 8812fb1..8c4e3d7 100644
--- a/Docker_PX4/Dockerfile
+++ b/Docker_PX4/Dockerfile
@@ -384,7 +384,7 @@ RUN echo "arrow" | sudo -S apt install ros-melodic-tf2-geometry-msgs
 #RUN rosdep update
 #RUN cd ~/catkin_ws && catkin config  --extend /opt/ros/melodic
 #RUN source ~/catkin_ws/deve/setup.bash
-RUN cd ~/catkin_ws && catkin build
+#RUN cd ~/catkin_ws && catkin build
 RUN bash ~/catkin_ws/src/oscillation_ctrl/px4_setup/ubuntu_sim_ros_melodic.sh
 #RUN git config --global --add safe.directory /home/arrow/Firmware
 RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
diff --git a/compose.yaml b/compose.yaml
index f5b26e6..a78a9c7 100644
--- a/compose.yaml
+++ b/compose.yaml
@@ -1,7 +1,12 @@
 services:
    px4:
      build: Docker_PX4
-     command: bash
+     command: bash -c "source /opt/ros/melodic/setup.bash &&
+       source /home/arrow/catkin_ws/devel/setup.bash &&
+       source home/arrow/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash home/arrow/PX4-Autopilot/ home/arrow/PX4-Autopilot//build/px4_sitl_default &&
+       export ROS_PACKAGE_PATH=/home/arrow/catkin_ws/src/oscillation_ctrl:/opt/ros/melodic/share:/home/arrow/PX4-Autopilot:/home/arrow/PX4-Autopilot/Tools/sitl_gazebo:/home/arrow/PX4-Autopilot:/home/arrow/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic && 
+       
+       roslaunch px4 multi_uav_mavros_sitl.launch" 
      tty: true
      privileged: true
      volumes:
@@ -20,4 +25,4 @@ services:
                #
                #               capabilities: [gpu]
 
-       
+