From e3d64a38a589d3154c8daf353f80c92597e54d61 Mon Sep 17 00:00:00 2001
From: Jakub Delicat <jakub.delicat@husarion.com>
Date: Mon, 27 Nov 2023 15:54:45 +0100
Subject: [PATCH] separated melodic ros bridge demo | added simulation demo

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
---
 README.md                                     |  8 ++---
 demo/compose.rosbot.humble.yaml               | 31 +++++++++++++++++++
 ...osbot.yaml => compose.rosbot.melodic.yaml} |  0
 3 files changed, 35 insertions(+), 4 deletions(-)
 create mode 100644 demo/compose.rosbot.humble.yaml
 rename demo/{compose.rosbot.yaml => compose.rosbot.melodic.yaml} (100%)

diff --git a/README.md b/README.md
index 70ea9d1..39206d6 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # Joy2Twist
 
-Dockerized ROS node allowing control of ROS-powered mobile robots with Logitech F710 gamepad. Joy2Twist node is converting `sensor_msgs/Joy` message to `geometry_msgs/Twist` in order to provide velocity commands for the mobile robot. Therefore this package is compliant (but not supported by Husarion) with any other gamepad controller which is able to publish the `sensor_msgs/Joy` message. 
+Dockerized ROS node allowing control of ROS-powered mobile robots with Logitech F710 gamepad. Joy2Twist node is converting `sensor_msgs/Joy` message to `geometry_msgs/Twist` in order to provide velocity commands for the mobile robot. Therefore this package is compliant (but not supported by Husarion) with any other gamepad controller which is able to publish the `sensor_msgs/Joy` message.
 
 ## Setup joy
 
@@ -46,7 +46,7 @@ ROS node is translating `/joy` topic to `/cmd_vel` topic.
 
 Following parameters change joystick axes mapped to given robot axes of freedom. For more information about parameter values, refer to the joy package [wiki page](http://wiki.ros.org/joy#Logitech_Wireless_Gamepad_F710_.28DirectInput_Mode.29).
 
-- `~axis_linear_x`      *(int, default: 3)* 
+- `~axis_linear_x`      *(int, default: 3)*
 - `~axis_linear_y`      *(int, default: 2)*
 - `~axis_angular_z`     *(int, default: 0)*
 
@@ -90,8 +90,8 @@ Available on [Docker Hub](https://hub.docker.com/r/husarion/joy2twist/tags)
 3. Launch on ROSbot
 
     Go to the `joy2twist/demo` folder and run:
-    
+
     ```bash
     cd joy2twist/demo
-    docker compose -f compose.rosbot.yaml up
+    docker compose -f compose.rosbot.melodic.yaml up
     ```
diff --git a/demo/compose.rosbot.humble.yaml b/demo/compose.rosbot.humble.yaml
new file mode 100644
index 0000000..2a252a9
--- /dev/null
+++ b/demo/compose.rosbot.humble.yaml
@@ -0,0 +1,31 @@
+x-gpu-config:
+  &gpu-config
+  runtime: nvidia
+  environment:
+    - DISPLAY=${DISPLAY:?err}
+    - NVIDIA_VISIBLE_DEVICES=all
+    - NVIDIA_DRIVER_CAPABILITIES=all
+
+x-cpu-config:
+  &cpu-config
+  environment:
+    - DISPLAY=${DISPLAY:?err}
+    - LIBGL_ALWAYS_SOFTWARE=1
+
+services:
+  rosbot_xl:
+    image: husarion/rosbot-xl-gazebo:humble-0.8.11-20231127
+    <<: *gpu-config
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - /dev:/dev
+    command: ros2 launch rosbot_xl_gazebo simulation.launch.py mecanum:=True
+
+  joy2twist:
+    image: husarion/joy2twist:humble-1.0.0-20230424-stable
+    devices:
+      - /dev/input/js0
+    volumes:
+      - ../joy2twist/config/joy2twist.yaml:/joy2twist.yaml
+    command: ros2 launch joy2twist gamepad_controller.launch.py
+        joy2twist_params_file:=/joy2twist.yaml
diff --git a/demo/compose.rosbot.yaml b/demo/compose.rosbot.melodic.yaml
similarity index 100%
rename from demo/compose.rosbot.yaml
rename to demo/compose.rosbot.melodic.yaml