From 4e131ee5ecee0e8ee61a9482b5092050ef3abf10 Mon Sep 17 00:00:00 2001 From: Tomas Baca Date: Thu, 17 Oct 2024 17:39:23 +0200 Subject: [PATCH] polishing --- docker/custom_package/Dockerfile | 6 +--- docker/custom_package/build.sh | 6 ++-- docker/main_image/Dockerfile | 2 ++ docker/main_image/build_arm64.sh | 2 +- .../camera_test_bottom/compose.yaml | 21 ++++++------ .../camera_test_bottom/rviz/camera_test.rviz | 4 +-- .../camera_test_front/compose.yaml | 20 ++++++------ .../camera_test_front/rviz/camera_test.rviz | 4 +-- docker/uav_session/gnss/compose.yaml | 30 ++++++++--------- .../sensor_diagnostics/compose.yaml | 12 ++++--- docker/uav_session/vio/compose.yaml | 32 +++++++++---------- 11 files changed, 72 insertions(+), 67 deletions(-) diff --git a/docker/custom_package/Dockerfile b/docker/custom_package/Dockerfile index 99f72aa..1c75d64 100644 --- a/docker/custom_package/Dockerfile +++ b/docker/custom_package/Dockerfile @@ -1,5 +1,5 @@ ARG WORKSPACE_PATH -ARG BASE_IMAGE=ctumrs/mrs_uav_system:latest +ARG BASE_IMAGE=ctumrs/mrs_uav_system:robofly ############################################################################# @@ -38,8 +38,4 @@ COPY ./cache/${WORKSPACE_PATH}/src /${WORKSPACE_PATH}/src COPY ./cache/${WORKSPACE_PATH}/.catkin_tools /${WORKSPACE_PATH}/.catkin_tools COPY ./cache/${WORKSPACE_PATH}/devel /${WORKSPACE_PATH}/devel -# COPY --from=stage_cache_workspace /${WORKSPACE_PATH}/src /${WORKSPACE_PATH}/src -# COPY --from=stage_cache_workspace /${WORKSPACE_PATH}/.catkin_tools /${WORKSPACE_PATH}/.catkin_tools -# COPY --from=stage_cache_workspace /${WORKSPACE_PATH}/devel /${WORKSPACE_PATH}/devel - CMD ["bash"] diff --git a/docker/custom_package/build.sh b/docker/custom_package/build.sh index dda369b..0daa238 100755 --- a/docker/custom_package/build.sh +++ b/docker/custom_package/build.sh @@ -11,9 +11,11 @@ CACHE_PATH=cache # initialize the cache mkdir -p ./${CACHE_PATH}/${WORKSPACE_PATH} +docker buildx select default + # this first build compiles the contents of "src" and storest the intermediate -docker build . --target stage_cache_workspace --output ./${CACHE_PATH} --build-arg WORKSPACE_PATH=${WORKSPACE_PATH} --file Dockerfile --platform=linux/arm64 +docker build . --target stage_cache_workspace --output ./${CACHE_PATH} --build-arg WORKSPACE_PATH=${WORKSPACE_PATH} --file Dockerfile --platform=linux/$ARCH # this second build takes the resulting workspace and storest in in a final image # that can be deployed to a drone -docker build . --target stage_finalization --file Dockerfile --build-arg WORKSPACE_PATH=${WORKSPACE_PATH} --tag $LOCAL_TAG --platform=linux/arm64 +docker build . --target stage_finalization --file Dockerfile --build-arg WORKSPACE_PATH=${WORKSPACE_PATH} --tag $LOCAL_TAG --platform=linux/$ARCH diff --git a/docker/main_image/Dockerfile b/docker/main_image/Dockerfile index 0e76d0c..4b4cd67 100644 --- a/docker/main_image/Dockerfile +++ b/docker/main_image/Dockerfile @@ -1,5 +1,7 @@ FROM ctumrs/mrs_uav_system:latest +RUN echo pes + RUN curl https://ctu-mrs.github.io/ppa-unstable/add_ppa.sh | bash RUN apt-get -y update && apt-get -y upgrade --allow-downgrades diff --git a/docker/main_image/build_arm64.sh b/docker/main_image/build_arm64.sh index 589f716..a5e9e1c 100755 --- a/docker/main_image/build_arm64.sh +++ b/docker/main_image/build_arm64.sh @@ -3,4 +3,4 @@ LOCAL_TAG=ctumrs/mrs_uav_system:robofly REGISTRY=localhost:5000 -docker buildx build . --file Dockerfile --tag $REGISTRY/$LOCAL_TAG --platform=linux/arm64 --push +docker build . --file Dockerfile --tag $REGISTRY/$LOCAL_TAG --platform=linux/arm64 --push diff --git a/docker/uav_session/camera_test_bottom/compose.yaml b/docker/uav_session/camera_test_bottom/compose.yaml index e3ca107..6a858ef 100644 --- a/docker/uav_session/camera_test_bottom/compose.yaml +++ b/docker/uav_session/camera_test_bottom/compose.yaml @@ -12,15 +12,15 @@ services: copy_shared_data: image: fly4future/robofly:apriltag_tests volumes: - - shared_data:/etc/ctu-mrs/shared_data:consistent - command: sh -c "rm -rvf /etc/ctu-mrs/shared_data/*; mkdir -pv /etc/ctu-mrs/shared_data; cp -rv /etc/shared_data/* /etc/ctu-mrs/shared_data/" + - shared_data:/etc/docker/shared_data:consistent + command: sh -c "rm -rvf /etc/docker/shared_data/*; mkdir -pv /etc/docker/shared_data; cp -rv /etc/shared_data/* /etc/docker/shared_data/" # will copy uav-specific configs, launch files and other files from the uav-specific docker image to a shared volume copy_uav_custom_files: image: fly4future/uav_custom_files:latest volumes: - - uav_custom_files:/etc/fly4future/uav_custom_files:consistent - command: sh -c "rm -rvf /etc/fly4future/uav_custom_files/*; mkdir -pv /etc/fly4future/uav_custom_files; cp -rv /etc/uav_custom_files/${UAV_TYPE}/${UAV_ID}/* /etc/fly4future/uav_custom_files/" + - uav_custom_files:/etc/docker/uav_custom_files:consistent + command: sh -c "rm -rvf /etc/docker/uav_custom_files/*; mkdir -pv /etc/docker/uav_custom_files; cp -rv /etc/uav_custom_files/${UAV_TYPE}/${UAV_ID}/* /etc/docker/uav_custom_files/" # starts roscore # this is the first container in the ROS pipeline @@ -38,13 +38,13 @@ services: image: ctumrs/mrs_uav_system:robofly network_mode: host volumes: - - uav_custom_files:/etc/fly4future/uav_custom_files:consistent + - uav_custom_files:/etc/docker/uav_custom_files:consistent devices: - /dev/:/dev/ privileged: true env_file: - ./stack.env - command: bash -c "waitForRos && roslaunch /etc/fly4future/uav_custom_files/launch_files/cameras.launch throttled_rate:=5.0" + command: bash -c "waitForRos && roslaunch /etc/docker/uav_custom_files/launch_files/cameras.launch throttled_rate:=5.0" apriltag_bottom: image: ctumrs/mrs_uav_system:robofly @@ -52,11 +52,10 @@ services: depends_on: - copy_shared_data volumes: - - shared_data:/etc/ctu-mrs/shared_data:consistent + - shared_data:/etc/docker/shared_data:consistent env_file: - ./stack.env - command: bash -c "waitForRos && roslaunch /etc/ctu-mrs/shared_data/apriltag_detector.launch custom_config:=/etc/ctu-mrs/shared_data/apriltag.yaml camera_node:=camera_down_throttled image_topic:=image_raw" - + command: bash -c "waitForRos && roslaunch /etc/docker/shared_data/apriltag_detector.launch custom_config:=/etc/docker/shared_data/apriltag.yaml camera_node:=camera_down_throttled image_topic:=image_raw" # this container can be used to access a terminal with ROS inside the compose session terminal: @@ -64,11 +63,13 @@ services: network_mode: host depends_on: - copy_shared_data + - copy_uav_custom_files env_file: - ./stack.env entrypoint: ["/bin/bash", "-c"] volumes: - - shared_data:/etc/ctu-mrs/shared_data:consistent + - shared_data:/etc/docker/shared_data:consistent + - uav_custom_files:/etc/docker/uav_custom_files:consistent - /dev/:/dev/ - bag_files:/etc/bag_files:consistent command: diff --git a/docker/uav_session/camera_test_bottom/rviz/camera_test.rviz b/docker/uav_session/camera_test_bottom/rviz/camera_test.rviz index 0e4e4c2..8419d89 100644 --- a/docker/uav_session/camera_test_bottom/rviz/camera_test.rviz +++ b/docker/uav_session/camera_test_bottom/rviz/camera_test.rviz @@ -36,7 +36,7 @@ Visualization Manager: Cell Size: 1 Class: rviz/Grid Color: 160; 160; 164 - Enabled: true + Enabled: false Line Style: Line Width: 0.029999999329447746 Value: Lines @@ -49,7 +49,7 @@ Visualization Manager: Plane: XY Plane Cell Count: 10 Reference Frame: - Value: true + Value: false - Class: rviz/Camera Enabled: true Image Rendering: background and overlay diff --git a/docker/uav_session/camera_test_front/compose.yaml b/docker/uav_session/camera_test_front/compose.yaml index 53b676b..98bf98d 100644 --- a/docker/uav_session/camera_test_front/compose.yaml +++ b/docker/uav_session/camera_test_front/compose.yaml @@ -12,15 +12,15 @@ services: copy_shared_data: image: fly4future/robofly:apriltag_tests volumes: - - shared_data:/etc/ctu-mrs/shared_data:consistent - command: sh -c "rm -rvf /etc/ctu-mrs/shared_data/*; mkdir -pv /etc/ctu-mrs/shared_data; cp -rv /etc/shared_data/* /etc/ctu-mrs/shared_data/" + - shared_data:/etc/docker/shared_data:consistent + command: sh -c "rm -rvf /etc/docker/shared_data/*; mkdir -pv /etc/docker/shared_data; cp -rv /etc/shared_data/* /etc/docker/shared_data/" # will copy uav-specific configs, launch files and other files from the uav-specific docker image to a shared volume copy_uav_custom_files: image: fly4future/uav_custom_files:latest volumes: - - uav_custom_files:/etc/fly4future/uav_custom_files:consistent - command: sh -c "rm -rvf /etc/fly4future/uav_custom_files/*; mkdir -pv /etc/fly4future/uav_custom_files; cp -rv /etc/uav_custom_files/${UAV_TYPE}/${UAV_ID}/* /etc/fly4future/uav_custom_files/" + - uav_custom_files:/etc/docker/uav_custom_files:consistent + command: sh -c "rm -rvf /etc/docker/uav_custom_files/*; mkdir -pv /etc/docker/uav_custom_files; cp -rv /etc/uav_custom_files/${UAV_TYPE}/${UAV_ID}/* /etc/docker/uav_custom_files/" # starts roscore # this is the first container in the ROS pipeline @@ -38,13 +38,13 @@ services: image: ctumrs/mrs_uav_system:robofly network_mode: host volumes: - - uav_custom_files:/etc/fly4future/uav_custom_files:consistent + - uav_custom_files:/etc/docker/uav_custom_files:consistent devices: - /dev/:/dev/ privileged: true env_file: - ./stack.env - command: bash -c "waitForRos && roslaunch /etc/fly4future/uav_custom_files/launch_files/cameras.launch throttled_rate:=5" + command: bash -c "waitForRos && roslaunch /etc/docker/uav_custom_files/launch_files/cameras.launch throttled_rate:=5" apriltag_front: image: ctumrs/mrs_uav_system:robofly @@ -52,10 +52,10 @@ services: depends_on: - copy_shared_data volumes: - - shared_data:/etc/ctu-mrs/shared_data:consistent + - shared_data:/etc/docker/shared_data:consistent env_file: - ./stack.env - command: bash -c "waitForRos && roslaunch /etc/ctu-mrs/shared_data/apriltag_detector.launch custom_config:=/etc/ctu-mrs/shared_data/apriltag.yaml camera_node:=camera_front_throttled image_topic:=image_raw" + command: bash -c "waitForRos && roslaunch /etc/docker/shared_data/apriltag_detector.launch custom_config:=/etc/docker/shared_data/apriltag.yaml camera_node:=camera_front_throttled image_topic:=image_raw" # this container can be used to access a terminal with ROS inside the compose session terminal: @@ -63,11 +63,13 @@ services: network_mode: host depends_on: - copy_shared_data + - copy_uav_custom_files env_file: - ./stack.env entrypoint: ["/bin/bash", "-c"] volumes: - - shared_data:/etc/ctu-mrs/shared_data:consistent + - shared_data:/etc/docker/shared_data:consistent + - uav_custom_files:/etc/docker/uav_custom_files:consistent - /dev/:/dev/ - bag_files:/etc/bag_files:consistent command: diff --git a/docker/uav_session/camera_test_front/rviz/camera_test.rviz b/docker/uav_session/camera_test_front/rviz/camera_test.rviz index f27843e..0867211 100644 --- a/docker/uav_session/camera_test_front/rviz/camera_test.rviz +++ b/docker/uav_session/camera_test_front/rviz/camera_test.rviz @@ -36,7 +36,7 @@ Visualization Manager: Cell Size: 1 Class: rviz/Grid Color: 160; 160; 164 - Enabled: true + Enabled: false Line Style: Line Width: 0.029999999329447746 Value: Lines @@ -49,7 +49,7 @@ Visualization Manager: Plane: XY Plane Cell Count: 10 Reference Frame: - Value: true + Value: false - Class: rviz/Camera Enabled: true Image Rendering: background and overlay diff --git a/docker/uav_session/gnss/compose.yaml b/docker/uav_session/gnss/compose.yaml index 2b5be04..4b54ee3 100644 --- a/docker/uav_session/gnss/compose.yaml +++ b/docker/uav_session/gnss/compose.yaml @@ -14,15 +14,15 @@ services: image: fly4future/robofly:shared_data_gnss # image: klaxalk:5000/robofly:shared_data_vio volumes: - - shared_data:/etc/ctu-mrs/shared_data:consistent - command: sh -c "rm -rvf /etc/ctu-mrs/shared_data/*; mkdir -pv /etc/ctu-mrs/shared_data; cp -rv /etc/shared_data/* /etc/ctu-mrs/shared_data/" + - shared_data:/etc/docker/shared_data:consistent + command: sh -c "rm -rvf /etc/docker/shared_data/*; mkdir -pv /etc/docker/shared_data; cp -rv /etc/shared_data/* /etc/docker/shared_data/" # will copy uav-specific configs, launch files and other files from the uav-specific docker image to a shared volume copy_uav_custom_files: image: fly4future/uav_custom_files:latest volumes: - - uav_custom_files:/etc/fly4future/uav_custom_files:consistent - command: sh -c "rm -rvf /etc/fly4future/uav_custom_files/*; mkdir -pv /etc/fly4future/uav_custom_files; cp -rv /etc/uav_custom_files/${UAV_TYPE}/${UAV_ID}/* /etc/fly4future/uav_custom_files/" + - uav_custom_files:/etc/docker/uav_custom_files:consistent + command: sh -c "rm -rvf /etc/docker/uav_custom_files/*; mkdir -pv /etc/docker/uav_custom_files; cp -rv /etc/uav_custom_files/${UAV_TYPE}/${UAV_ID}/* /etc/docker/uav_custom_files/" # starts roscore # this is the first container in the ROS pipeline @@ -55,7 +55,7 @@ services: - rostime network_mode: host volumes: - - shared_data:/etc/ctu-mrs/shared_data:consistent + - shared_data:/etc/docker/shared_data:consistent - /dev/:/dev/ privileged: true env_file: @@ -69,10 +69,10 @@ services: - rostime network_mode: host volumes: - - shared_data:/etc/ctu-mrs/shared_data:consistent + - shared_data:/etc/docker/shared_data:consistent env_file: - ./stack.env - command: bash -c "waitForHw && roslaunch mrs_uav_core core.launch platform_config:=`rospack find mrs_robofly_core`/config/platform_config.yaml custom_config:=/etc/ctu-mrs/shared_data/custom_config.yaml world_config:=/etc/ctu-mrs/shared_data/world_local.yaml network_config:=/etc/ctu-mrs/shared_data/network_config.yaml" + command: bash -c "waitForHw && roslaunch mrs_uav_core core.launch platform_config:=`rospack find mrs_robofly_core`/config/platform_config.yaml custom_config:=/etc/docker/shared_data/custom_config.yaml world_config:=/etc/docker/shared_data/world_local.yaml network_config:=/etc/docker/shared_data/network_config.yaml" # starts the camera drivers cameras: @@ -81,14 +81,14 @@ services: - rostime network_mode: host volumes: - - shared_data:/etc/ctu-mrs/shared_data:consistent - - uav_custom_files:/etc/fly4future/uav_custom_files:consistent + - shared_data:/etc/docker/shared_data:consistent + - uav_custom_files:/etc/docker/uav_custom_files:consistent devices: - /dev/:/dev/ privileged: true env_file: - ./stack.env - command: bash -c "waitForTime && roslaunch /etc/fly4future/uav_custom_files/launch_files/cameras.launch" + command: bash -c "waitForTime && roslaunch /etc/docker/uav_custom_files/launch_files/cameras.launch" # starts the node that handles automatic initialization of the system and takeoff automatic_start: @@ -97,7 +97,7 @@ services: - rostime network_mode: host volumes: - - shared_data:/etc/ctu-mrs/shared_data:consistent + - shared_data:/etc/docker/shared_data:consistent env_file: - ./stack.env command: bash -c "waitForHw && roslaunch mrs_uav_autostart automatic_start.launch" @@ -110,10 +110,10 @@ services: network_mode: host volumes: - bag_files:/etc/bag_files:consistent - - shared_data:/etc/ctu-mrs/shared_data:consistent + - shared_data:/etc/docker/shared_data:consistent env_file: - ./stack.env - command: bash -c "waitForTime && /etc/ctu-mrs/shared_data/record.sh" + command: bash -c "waitForTime && /etc/docker/shared_data/record.sh" # this container can be used to access a terminal with ROS inside the compose session terminal: @@ -126,8 +126,8 @@ services: entrypoint: ["/bin/bash", "-c"] volumes: - bag_files:/etc/bag_files:consistent - - shared_data:/etc/ctu-mrs/shared_data:consistent - - uav_custom_files:/etc/fly4future/uav_custom_files:consistent + - shared_data:/etc/docker/shared_data:consistent + - uav_custom_files:/etc/docker/uav_custom_files:consistent - /dev/:/dev/ command: - bash --rcfile /opt/ros/noetic/setup.bash diff --git a/docker/uav_session/sensor_diagnostics/compose.yaml b/docker/uav_session/sensor_diagnostics/compose.yaml index b1fc924..a9faa34 100644 --- a/docker/uav_session/sensor_diagnostics/compose.yaml +++ b/docker/uav_session/sensor_diagnostics/compose.yaml @@ -10,8 +10,8 @@ services: copy_uav_custom_files: image: fly4future/uav_custom_files:latest volumes: - - uav_custom_files:/etc/fly4future/uav_custom_files:consistent - command: sh -c "rm -rvf /etc/fly4future/uav_custom_files/*; mkdir -pv /etc/fly4future/uav_custom_files; cp -rv /etc/uav_custom_files/${UAV_TYPE}/${UAV_ID}/* /etc/fly4future/uav_custom_files/" + - uav_custom_files:/etc/docker/uav_custom_files:consistent + command: sh -c "rm -rvf /etc/docker/uav_custom_files/*; mkdir -pv /etc/docker/uav_custom_files; cp -rv /etc/uav_custom_files/${UAV_TYPE}/${UAV_ID}/* /etc/docker/uav_custom_files/" # starts roscore # this is the first container in the ROS pipeline @@ -40,23 +40,25 @@ services: image: ctumrs/mrs_uav_system:robofly network_mode: host volumes: - - uav_custom_files:/etc/fly4future/uav_custom_files:consistent + - uav_custom_files:/etc/docker/uav_custom_files:consistent devices: - /dev/:/dev/ privileged: true env_file: - ./stack.env - command: bash -c "waitForRos && roslaunch /etc/fly4future/uav_custom_files/launch_files/cameras.launch" + command: bash -c "waitForRos && roslaunch /etc/docker/uav_custom_files/launch_files/cameras.launch" # this container can be used to access a terminal with ROS inside the compose session terminal: image: ctumrs/mrs_uav_system:robofly network_mode: host + depends_on: + - copy_uav_custom_files env_file: - ./stack.env entrypoint: ["/bin/bash", "-c"] volumes: - - uav_custom_files:/etc/fly4future/uav_custom_files:consistent + - uav_custom_files:/etc/docker/uav_custom_files:consistent - /dev/:/dev/ - bag_files:/etc/bag_files:consistent command: diff --git a/docker/uav_session/vio/compose.yaml b/docker/uav_session/vio/compose.yaml index 0004ecc..bd30ac6 100644 --- a/docker/uav_session/vio/compose.yaml +++ b/docker/uav_session/vio/compose.yaml @@ -14,15 +14,15 @@ services: # image: fly4future/robofly:shared_data_gnss # image: klaxalk:5000/robofly:shared_data_vio volumes: - - shared_data:/etc/ctu-mrs/shared_data:consistent - command: sh -c "rm -rvf /etc/ctu-mrs/shared_data/*; mkdir -pv /etc/ctu-mrs/shared_data; cp -rv /etc/shared_data/* /etc/ctu-mrs/shared_data/" + - shared_data:/etc/docker/shared_data:consistent + command: sh -c "rm -rvf /etc/docker/shared_data/*; mkdir -pv /etc/docker/shared_data; cp -rv /etc/shared_data/* /etc/docker/shared_data/" # will copy uav-specific configs, launch files and other files from the uav-specific docker image to a shared volume copy_uav_custom_files: image: fly4future/uav_custom_files:latest volumes: - - uav_custom_files:/etc/fly4future/uav_custom_files:consistent - command: sh -c "rm -rvf /etc/fly4future/uav_custom_files/*; mkdir -pv /etc/fly4future/uav_custom_files; cp -rv /etc/uav_custom_files/${UAV_TYPE}/${UAV_ID}/* /etc/fly4future/uav_custom_files/" + - uav_custom_files:/etc/docker/uav_custom_files:consistent + command: sh -c "rm -rvf /etc/docker/uav_custom_files/*; mkdir -pv /etc/docker/uav_custom_files; cp -rv /etc/uav_custom_files/${UAV_TYPE}/${UAV_ID}/* /etc/docker/uav_custom_files/" # starts roscore # this is the first container in the ROS pipeline @@ -55,7 +55,7 @@ services: - rostime network_mode: host volumes: - - shared_data:/etc/ctu-mrs/shared_data:consistent + - shared_data:/etc/docker/shared_data:consistent - /dev/:/dev/ privileged: true env_file: @@ -69,7 +69,7 @@ services: - rostime network_mode: host volumes: - - shared_data:/etc/ctu-mrs/shared_data:consistent + - shared_data:/etc/docker/shared_data:consistent - /dev/:/dev/ env_file: - ./stack.env @@ -82,10 +82,10 @@ services: - rostime network_mode: host volumes: - - shared_data:/etc/ctu-mrs/shared_data:consistent + - shared_data:/etc/docker/shared_data:consistent env_file: - ./stack.env - command: bash -c "waitForHw && roslaunch mrs_uav_core core.launch platform_config:=`rospack find mrs_robofly_core`/config/platform_config.yaml custom_config:=/etc/ctu-mrs/shared_data/custom_config.yaml world_config:=/etc/ctu-mrs/shared_data/world_local.yaml network_config:=/etc/ctu-mrs/shared_data/network_config.yaml" + command: bash -c "waitForHw && roslaunch mrs_uav_core core.launch platform_config:=`rospack find mrs_robofly_core`/config/platform_config.yaml custom_config:=/etc/docker/shared_data/custom_config.yaml world_config:=/etc/docker/shared_data/world_local.yaml network_config:=/etc/docker/shared_data/network_config.yaml" # starts the camera drivers cameras: @@ -94,14 +94,14 @@ services: - rostime network_mode: host volumes: - - shared_data:/etc/ctu-mrs/shared_data:consistent - - uav_custom_files:/etc/fly4future/uav_custom_files:consistent + - shared_data:/etc/docker/shared_data:consistent + - uav_custom_files:/etc/docker/uav_custom_files:consistent devices: - /dev/:/dev/ privileged: true env_file: - ./stack.env - command: bash -c "waitForTime && roslaunch /etc/fly4future/uav_custom_files/launch_files/cameras.launch" + command: bash -c "waitForTime && roslaunch /etc/docker/uav_custom_files/launch_files/cameras.launch" # starts the node that handles automatic initialization of the system and takeoff automatic_start: @@ -110,7 +110,7 @@ services: - rostime network_mode: host volumes: - - shared_data:/etc/ctu-mrs/shared_data:consistent + - shared_data:/etc/docker/shared_data:consistent env_file: - ./stack.env command: bash -c "waitForHw && roslaunch mrs_uav_autostart automatic_start.launch" @@ -123,10 +123,10 @@ services: network_mode: host volumes: - bag_files:/etc/bag_files:consistent - - shared_data:/etc/ctu-mrs/shared_data:consistent + - shared_data:/etc/docker/shared_data:consistent env_file: - ./stack.env - command: bash -c "waitForTime && /etc/ctu-mrs/shared_data/record.sh" + command: bash -c "waitForTime && /etc/docker/shared_data/record.sh" # this container can be used to access a terminal with ROS inside the compose session terminal: @@ -139,8 +139,8 @@ services: entrypoint: ["/bin/bash", "-c"] volumes: - bag_files:/etc/bag_files:consistent - - shared_data:/etc/ctu-mrs/shared_data:consistent - - uav_custom_files:/etc/fly4future/uav_custom_files:consistent + - shared_data:/etc/docker/shared_data:consistent + - uav_custom_files:/etc/docker/uav_custom_files:consistent - /dev/:/dev/ command: - bash --rcfile /opt/ros/noetic/setup.bash