combined.launch.py is working fine

Dockerfile.hardware

@@ -1,6 +1,6 @@
 ARG ROS_DISTRO=humble
 ARG PREFIX=
-ARG ROSBOT_FW_RELEASE=0.7.0
+ARG ROSBOT_FW_RELEASE=0.8.0
 ## ============================ STM32FLASH =================================
 # stm32flash needs an older version of glibc (2.28), which is why ubuntu 18.04 was used
 FROM ubuntu:18.04 AS stm32flash_builder_and_downloader
@@ -26,7 +26,7 @@ RUN echo ros_distro=$ROS_DISTRO firmware_release=$ROSBOT_FW_RELEASE
 RUN curl -L https://github.com/husarion/rosbot_ros2_firmware/releases/download/$ROSBOT_FW_RELEASE/firmware.bin -o /firmware.bin && \
     curl -L https://github.com/husarion/rosbot_ros2_firmware/releases/download/$ROSBOT_FW_RELEASE/firmware.hex -o /firmware.hex
 
-RUN git clone https://github.com/husarion/rosbot_ros.git /ros2_ws/src
+RUN git clone https://github.com/husarion/rosbot_ros.git /ros2_ws/src -b ros2-combined-microros
 
 ## =========================== Firmware CPU ID ================================
 
@@ -50,6 +50,10 @@ RUN pip3 install -U platformio && \
     pio run && \
     chmod -x .pio/build/olimex_e407/firmware.bin
 
+## =========================== Micro ROS agent ===============================
+
+FROM husarion/micro-ros-agent:humble-3.1.3-20231122 AS microros_agent_getter
+
 ## =========================== ROS image ===============================
 FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-core
 
@@ -115,20 +119,28 @@ RUN apt-get update && apt-get install -y \
 
 RUN echo $(cat /ros2_ws/src/rosbot/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt
 
-RUN if [ -f "/ros_entrypoint.sh" ]; then \
+COPY ros_entrypoint.sh /
+COPY vulcanexus_entrypoint.sh /
+
+RUN if [[ ${PREFIX} == 'vulcanexus-' ]]; then \
         sed -i '/test -f "\/ros2_ws\/install\/setup.bash" && source "\/ros2_ws\/install\/setup.bash"/a \
         ros2 run healthcheck_pkg healthcheck_node &' \
-        /ros_entrypoint.sh; \
+        /vulcanexus_entrypoint.sh; \
     else \
         sed -i '/test -f "\/ros2_ws\/install\/setup.bash" && source "\/ros2_ws\/install\/setup.bash"/a \
         ros2 run healthcheck_pkg healthcheck_node &' \
-        /vulcanexus_entrypoint.sh; \
+        /ros_entrypoint.sh; \
     fi
 
 COPY ./healthcheck.sh /
 HEALTHCHECK --interval=7s --timeout=2s  --start-period=5s --retries=5 \
     CMD ["/healthcheck.sh"]
 
+# copy micro-ros agent
+
+COPY --from=microros_agent_getter /ros2_ws /ros2_ws_microros_agent
+COPY microros_localhost_only.xml /
+
 # copy scripts
 COPY flash-firmware.py /
 COPY flash-firmware.py /usr/bin/

demo/compose.combined.yaml

@@ -0,0 +1,18 @@
+services:
+
+  rosbot:
+    build:
+      context: ../
+      dockerfile: Dockerfile.hardware
+    devices:
+      - ${SERIAL_PORT:?err}
+    environment:
+      - ROS_DOMAIN_ID=123
+      - ROS_LOCALHOST_ONLY=1
+    command: >
+      ros2 launch rosbot_bringup combined.launch.py 
+        mecanum:=${MECANUM:-False}
+        serial_port:=$SERIAL_PORT 
+        serial_baudrate:=576000
+
+

demo/namespace/compose.yaml

@@ -0,0 +1,38 @@
+services:
+
+  rosbot:
+    build:
+      context: ../../
+      dockerfile: Dockerfile.hardware
+    network_mode: host
+    ipc: host
+    devices:
+      - ${SERIAL_PORT:?err}
+    environment:
+      - FASTRTPS_DEFAULT_PROFILES_FILE=/shm-only.xml
+    command: >
+      ros2 launch rosbot_bringup combined.launch.py 
+        mecanum:=${MECANUM:-False}
+        serial_port:=$SERIAL_PORT 
+        serial_baudrate:=576000
+        namespace:=robot1
+
+  ros2router:
+    image: husarnet/ros2router:release-1.4.0
+    network_mode: host
+    ipc: host
+    volumes:
+      - ./filter.yaml:/filter.yaml
+    environment:
+      - USE_HUSARNET=FALSE
+      - ROS_LOCALHOST_ONLY=1
+      - ROS_DISTRO
+
+# 1. run `docker-compose up` on the robot
+# 2. On the second host in LAN you will see only single ros2 topic:
+#   $ ros2 topic list
+#   /parameter_events
+#   /robot1/cmd_vel
+#   /rosout
+# 3. You can use teleop_twist_keyboard to control the robot in robot1 namespace:
+# `ros2 run teleop_twist_keyboard teleop_twist_keyboard  --ros-args -r __ns:=/robot1`

demo/namespace/filter.yaml

@@ -0,0 +1,5 @@
+allowlist:
+  - name: "rt/robot1/cmd_vel"
+    type: "geometry_msgs::msg::dds_::Twist_"
+blocklist: []
+builtin-topics: []

microros_localhost_only.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--The only purpose of this file is to disable
+Fast-DDS SHM transport used by default to use UDPv4-->
+<dds>
+    <profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+        <transport_descriptors>
+            <transport_descriptor>
+                <transport_id>CustomUdpTransport</transport_id>
+                <type>UDPv4</type>
+                <interfaceWhiteList>
+                    <address>127.0.0.1</address>
+                </interfaceWhiteList>
+            </transport_descriptor>
+        </transport_descriptors>
+
+        <participant profile_name="participant_profile" is_default_profile="true">
+            <rtps>
+                <userTransports>
+                    <transport_id>CustomUdpTransport</transport_id>
+                </userTransports>
+
+                <useBuiltinTransports>false</useBuiltinTransports>
+            </rtps>
+        </participant>
+    </profiles>
+</dds>

ros_entrypoint.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+set -e
+
+output=$(husarnet-dds singleshot) || true
+if [[ "$HUSARNET_DDS_DEBUG" == "TRUE" ]]; then
+  echo "$output"
+fi
+
+# Check if XRCE_DOMAIN_ID_OVERRIDE is unset or empty
+if [ -z "$XRCE_DOMAIN_ID_OVERRIDE" ]; then
+    # If ROS_DOMAIN_ID is set and not empty, set XRCE_DOMAIN_ID_OVERRIDE to its value
+    if [ -n "$ROS_DOMAIN_ID" ]; then
+        export XRCE_DOMAIN_ID_OVERRIDE="$ROS_DOMAIN_ID"
+    fi
+fi
+
+# setup ros environment
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+source  "/ros2_ws/install/setup.bash"
+source  "/ros2_ws_microros_agent/install/setup.bash"
+
+exec "$@"

sync_with_rosbot.sh

@@ -3,8 +3,8 @@
 # If your ROSbot's IP addr is 10.5.10.64 execute:
 # ./sync_with_rosbot.sh 10.5.10.64
 
-sshpass -p "husarion" rsync -vRr ./ husarion@$1:/home/husarion/${PWD##*/}
+sshpass -p "husarion" rsync -vRr --delete ./ husarion@$1:/home/husarion/${PWD##*/} 
 
-while inotifywait -r -e modify,create,delete,move ./ ; do
-    sshpass -p "husarion" rsync -vRr ./ husarion@$1:/home/husarion/${PWD##*/}
-done
+while inotifywait -r -e modify,create,delete,move ./ ; do 
+    sshpass -p "husarion" rsync -vRr --delete ./ husarion@$1:/home/husarion/${PWD##*/} 
+done

vulcanexus_entrypoint.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+set -e
+
+output=$(husarnet-dds singleshot) || true
+if [[ "$HUSARNET_DDS_DEBUG" == "TRUE" ]]; then
+  echo "$output"
+fi
+
+# Check if XRCE_DOMAIN_ID_OVERRIDE is unset or empty
+if [ -z "$XRCE_DOMAIN_ID_OVERRIDE" ]; then
+    # If ROS_DOMAIN_ID is set and not empty, set XRCE_DOMAIN_ID_OVERRIDE to its value
+    if [ -n "$ROS_DOMAIN_ID" ]; then
+        export XRCE_DOMAIN_ID_OVERRIDE="$ROS_DOMAIN_ID"
+    fi
+fi
+
+# setup ros environment
+source "/opt/vulcanexus/$ROS_DISTRO/setup.bash"
+source  "/ros2_ws/install/setup.bash"
+source  "/ros2_ws_microros_agent/install/setup.bash"
+
+exec "$@"