From 8f6d734add36cb17f10a6c40e6b0ac8039f28505 Mon Sep 17 00:00:00 2001 From: akilpath Date: Wed, 20 Nov 2024 17:16:48 +0000 Subject: [PATCH 1/3] added package to interfacing dependencies --- src/interfacing/sensor_interfacing/CMakeLists.txt | 1 + src/interfacing/sensor_interfacing/package.xml | 1 + 2 files changed, 2 insertions(+) diff --git a/src/interfacing/sensor_interfacing/CMakeLists.txt b/src/interfacing/sensor_interfacing/CMakeLists.txt index d5acd83d..70a0ded3 100644 --- a/src/interfacing/sensor_interfacing/CMakeLists.txt +++ b/src/interfacing/sensor_interfacing/CMakeLists.txt @@ -7,6 +7,7 @@ endif() # find dependencies find_package(ament_cmake REQUIRED) +find_package(ros_humble_novatel_driver_oem7_driver REQUIRED) # uncomment the following section in order to fill in # further dependencies manually. # find_package( REQUIRED) diff --git a/src/interfacing/sensor_interfacing/package.xml b/src/interfacing/sensor_interfacing/package.xml index 4fecd9f5..541059c4 100644 --- a/src/interfacing/sensor_interfacing/package.xml +++ b/src/interfacing/sensor_interfacing/package.xml @@ -8,6 +8,7 @@ TODO: License declaration ament_cmake + ros_humble_novatel_driver_oem7_driver From 640c45463a6875189f62df29000d222593b74de9 Mon Sep 17 00:00:00 2001 From: akilpath Date: Fri, 22 Nov 2024 19:56:18 +0000 Subject: [PATCH 2/3] Novatel driver in dockerfile --- .../sensor_interfacing/sensor_interfacing.Dockerfile | 5 ++++- src/interfacing/sensor_interfacing/CMakeLists.txt | 2 +- src/interfacing/sensor_interfacing/package.xml | 2 +- 3 files changed, 6 insertions(+), 3 deletions(-) diff --git a/docker/interfacing/sensor_interfacing/sensor_interfacing.Dockerfile b/docker/interfacing/sensor_interfacing/sensor_interfacing.Dockerfile index 44e896a2..6ee7d246 100644 --- a/docker/interfacing/sensor_interfacing/sensor_interfacing.Dockerfile +++ b/docker/interfacing/sensor_interfacing/sensor_interfacing.Dockerfile @@ -21,7 +21,7 @@ FROM ${BASE_IMAGE} as dependencies # Install Rosdep requirements COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list -RUN apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list) +RUN apt-get -qq update && apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list) # Copy in source code from source stage WORKDIR ${AMENT_WS} @@ -32,6 +32,9 @@ WORKDIR / RUN apt-get -qq autoremove -y && apt-get -qq autoclean && apt-get -qq clean && \ rm -rf /root/* /root/.ros /tmp/* /var/lib/apt/lists/* /usr/share/doc/* +RUN sudo apt update -y +RUN sudo apt upgrade -y +RUN sudo apt-get install ros-humble-novatel-oem7-driver -y ################################ Build ################################ FROM dependencies as build diff --git a/src/interfacing/sensor_interfacing/CMakeLists.txt b/src/interfacing/sensor_interfacing/CMakeLists.txt index 70a0ded3..4409a6d9 100644 --- a/src/interfacing/sensor_interfacing/CMakeLists.txt +++ b/src/interfacing/sensor_interfacing/CMakeLists.txt @@ -7,7 +7,7 @@ endif() # find dependencies find_package(ament_cmake REQUIRED) -find_package(ros_humble_novatel_driver_oem7_driver REQUIRED) + # uncomment the following section in order to fill in # further dependencies manually. # find_package( REQUIRED) diff --git a/src/interfacing/sensor_interfacing/package.xml b/src/interfacing/sensor_interfacing/package.xml index 541059c4..9f8d30f8 100644 --- a/src/interfacing/sensor_interfacing/package.xml +++ b/src/interfacing/sensor_interfacing/package.xml @@ -8,7 +8,7 @@ TODO: License declaration ament_cmake - ros_humble_novatel_driver_oem7_driver + From 395f0e29ba5ecf7eed8c7e3d963757055114cb73 Mon Sep 17 00:00:00 2001 From: akilpath Date: Fri, 22 Nov 2024 21:57:06 +0000 Subject: [PATCH 3/3] added command to yaml --- .../sensor_interfacing/sensor_interfacing.Dockerfile | 8 ++++---- modules/docker-compose.interfacing.yaml | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/docker/interfacing/sensor_interfacing/sensor_interfacing.Dockerfile b/docker/interfacing/sensor_interfacing/sensor_interfacing.Dockerfile index 6ee7d246..a769558f 100644 --- a/docker/interfacing/sensor_interfacing/sensor_interfacing.Dockerfile +++ b/docker/interfacing/sensor_interfacing/sensor_interfacing.Dockerfile @@ -19,6 +19,10 @@ RUN apt-get -qq update && rosdep update && \ ################################# Dependencies ################################ FROM ${BASE_IMAGE} as dependencies +RUN sudo apt update -y +RUN sudo apt upgrade -y +RUN sudo apt-get install ros-humble-novatel-oem7-driver -y + # Install Rosdep requirements COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list RUN apt-get -qq update && apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list) @@ -31,10 +35,6 @@ COPY --from=source ${AMENT_WS}/src src WORKDIR / RUN apt-get -qq autoremove -y && apt-get -qq autoclean && apt-get -qq clean && \ rm -rf /root/* /root/.ros /tmp/* /var/lib/apt/lists/* /usr/share/doc/* - -RUN sudo apt update -y -RUN sudo apt upgrade -y -RUN sudo apt-get install ros-humble-novatel-oem7-driver -y ################################ Build ################################ FROM dependencies as build diff --git a/modules/docker-compose.interfacing.yaml b/modules/docker-compose.interfacing.yaml index 51c39102..f0f74831 100644 --- a/modules/docker-compose.interfacing.yaml +++ b/modules/docker-compose.interfacing.yaml @@ -10,7 +10,7 @@ services: - "${INTERFACING_SENSOR_IMAGE}:build_main" target: deploy image: "${INTERFACING_SENSOR_IMAGE}:${TAG}" - command: /bin/bash -c "ros2 launch sensor_interfacing sensor_interfacing.launch.py" + command: /bin/bash -c "ros2 launch sensor_interfacing sensor_interfacing.launch.py && ros2 launch novatel_oem7_driver oem7_net.launch.py oem7_ip_addr:=169.254.0.10" can_interfacing: build: