Updating runtime stuff

Signed-off-by: Emerson Knapp <[email protected]>
emersonknapp · May 3, 2020 · d4d38f8 · d4d38f8
1 parent ac5c08d
commit d4d38f8
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Showing 3 changed files with 8 additions and 5 deletions.
diff --git a/brains/systemd/robot_runtime.service b/brains/systemd/robot_runtime.service
@@ -7,3 +7,4 @@ ExecStart=/usr/bin/docker-compose up
 
 [Install]
 WantedBy=default.target
+WantedBy=multi-user.target
diff --git a/ros/crossbuild b/ros/crossbuild
@@ -1,2 +1,2 @@
 #!/bin/bash
-ros_cross_compile $(pwd) -a aarch64 -o ubuntu -d eloquent --colcon-defaults runtime.yaml
+ros_cross_compile $(pwd) --skip-rosdep-collection -a aarch64 -o ubuntu -d eloquent --colcon-defaults runtime.yaml
diff --git a/ros/docker-compose.yml b/ros/docker-compose.yml
@@ -1,10 +1,12 @@
 version: '3'
 services:
   kojet:
-    image: "192.168.1.11:5000/kojet-runtime"
+    image: robot_runtime
     privileged: true
     volumes:
-      - ~/install_aarch64:/ws
+      - /home/homey/data:/ros_ws/data
+      - /home/homey/install_aarch64:/ros_ws/install
       - /dev:/dev
-    working_dir: /ws
-    entrypoint: /bin/bash -c "source setup.bash && ros2 launch robot_runtime robot_runtime.launch.py"
+    entrypoint: /bin/bash -c "source install/setup.bash && ros2 launch robot_runtime robot_runtime.launch.py map_path:=/ros_ws/data/dillon.yaml nav:=true"
+    tty: yes
+    network_mode: host
Original file line number	Diff line number	Diff line change
Expand Up		@@ -7,3 +7,4 @@ ExecStart=/usr/bin/docker-compose up

		[Install]
		WantedBy=default.target
		WantedBy=multi-user.target