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vortexntnu · Oct 19, 2023 · 65a881a · 65a881a
2 parents f457be9 + 4db57fc
commit 65a881a
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Showing 3 changed files with 9 additions and 11 deletions.
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
diff --git a/Dockerfile b/Dockerfile
@@ -60,7 +60,6 @@ SHELL ["/bin/bash", "-c"]
 RUN source /opt/ros/$ROS_DISTRO/setup.bash  \
     && colcon build                         \
         --symlink-install                   \
-        -executor sequential                \ 
         --cmake-args                        \
         -DCMAKE_BUILD_TYPE=Release          \
         -DCMAKE_CXX_FLAGS="-Wno-deprecated-declarations"

diff --git a/docker-compose.yaml b/docker-compose.yaml
@@ -1,30 +1,34 @@
 version: '3.8'
 
+# lidar hostname: os1-122007000043
+
 services:
   freya-lidar:
-    # os1-122007000043
     container_name: ouster-lidar-freya
     image: ghcr.io/vortexntnu/ouster-lidar-ros2-driver-humble:2023-10-09
     ports:
       - 7502:7502/udp # lidar output port
+      - 7503:7503/udp # imu output port
     entrypoint: ["bash", "-c", "set -e \
                 && source ./install/setup.bash \
                 && ros2 launch ouster_ros sensor.launch.xml \
                     sensor_hostname:=169.254.154.82 \ 
                     lidar_port:=7502 \
+                    imu_port:=7503 \
                     viz:=false 
                 ", "ros-entrypoint"]
-                # ^Change to freya static-ip
 
   test-lidar:
     container_name: ouster-lidar-test
     image: ghcr.io/vortexntnu/ouster-lidar-ros2-driver-humble:2023-10-09
     ports:
-      - 7503:7503/udp # lidar output port
+      - 7502:7502/udp # lidar output port
+      - 7503:7503/udp # imu output port
     entrypoint: ["bash", "-c", "set -e \
                 && source ./install/setup.bash \
                 && ros2 launch ouster_ros sensor.launch.xml \
                   sensor_hostname:=10.0.0.122 \
-                  lidar_port:=7503 \
+                  lidar_port:=7502 \
+                  imu_port:=7503 \
                   viz:=false
-                ", "ros-entrypoint"]
+                ", "ros-entrypoint"]