Merge pull request #6 from Yolnan/devel

demo hardware compatibility and QoL updates

.github/workflows/docker.yml

@@ -16,7 +16,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        distro: [foxy, humble, rolling]
+        distro: [foxy]
     env:
       REGISTRY: ghcr.io
       IMAGE_NAME: ${{ github.repository }}

.github/workflows/ubuntu.yml

@@ -19,7 +19,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        distro: [foxy, humble, rolling]
+        distro: [foxy]
     container:
       image: ghcr.io/ros-industrial-consortium/scan_n_plan_workshop:${{ matrix.distro }}-master
       env:

docker/Dockerfile

@@ -28,3 +28,6 @@ RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/snp_automate_2022 \
   && cd ${WORKSPACE_DIR} \ 
   && colcon build --cmake-args \
   && rm -rf build log
+
+COPY --chmod=755 docker/launch_snp_automate_2022.sh /opt/launch_snp_automate_2022.sh
+ENTRYPOINT ["/opt/launch_snp_automate_2022.sh"]

docker/launch_snp_automate_2022.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+
+source /opt/snp_automate_2022/install/setup.bash
+ros2 launch snp_automate_2022 start.launch.xml sim_robot:=false sim_vision:=false

launch/start.launch.xml

@@ -66,9 +66,7 @@
     <include file="$(find-pkg-share realsense2_camera)/launch/rs_launch.py">
       <arg name="align_depth" value="true"/>
       <arg name="enable_pointcloud" value="true"/>
-      <arg name="color_width" value="640"/>
-      <arg name="color_height" value="360"/>
-      <arg name="color_fps" value="90.0"/>
+      <arg name="rgb_camera.profile" value="640x360x30"/>
     </include>
   </group>
     <!-- Launch Open3d Interface Node (Sim) -->

package.xml

@@ -23,6 +23,7 @@
   <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>joint_trajectory_controller</exec_depend>
   <exec_depend>hardware_interface</exec_depend>
+  <exec_depend>realsense2_camera</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>