sl-jetson
a4a2953326
New packages: - saltybot_dronecan_gps: DroneCAN driver for CubePilot Here4 RTK GPS - Subscribes uavcan.equipment.gnss.Fix2 (ID 1063) on can0 at 1Mbps - Publishes /gps/fix (NavSatFix), /gps/vel (TwistStamped), /gps/rtk_status - Maps DroneCAN fix_type 0-6 → sensor_msgs NavSatStatus + RTK label - Optional compass via uavcan.equipment.ahrs.MagneticFieldStrength - saltybot_ntrip_client: NTRIP RTCM3 → DroneCAN RTCMStream forwarding - Connects to rtk2go.com:2101 (configurable), auto-reconnects - Forwards corrections to Here4 via uavcan.equipment.gnss.RTCMStream - Publishes /ntrip/status (CONNECTED / DISCONNECTED / ERROR:<reason>) New launch file: - here4_gps.launch.py: launches both nodes with unified CAN + NTRIP params Updated: - can_setup.sh: adds 1Mbps DroneCAN mode (sudo ./can_setup.sh up dronecan) keeping 500kbps VESC default; CAN_BITRATE env var still overrides both - docker-compose.yml: adds here4-gps service with /dev/can0 device passthrough and NET_ADMIN cap; resolves leftover merge conflict markers - outdoor_nav_params.yaml: adds Here4 config section, updates RTK docs Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
407 lines
13 KiB
YAML
407 lines
13 KiB
YAML
version: "3.8"
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# Jetson Orin Nano Super — ROS2 Humble SLAM stack
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# Run with: docker compose up -d
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# Requires: NVIDIA Container Toolkit (JetPack 6) on host
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services:
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# ── Core ROS2 + SLAM node ─────────────────────────────────────────────────
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saltybot-ros2:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-ros2
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restart: unless-stopped
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runtime: nvidia
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privileged: false
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network_mode: host
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environment:
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_DRIVER_CAPABILITIES=all
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- ROS_DOMAIN_ID=42
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- DISPLAY=${DISPLAY:-:0}
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volumes:
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- /tmp/.X11-unix:/tmp/.X11-unix:rw
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- ./ros2_ws/src:/ros2_ws/src:rw
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- /mnt/nvme/saltybot/maps:/maps
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- /mnt/nvme/saltybot:/data:rw
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- ./config:/config:ro
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devices:
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- /dev/rplidar:/dev/rplidar
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- /dev/esp32-bridge:/dev/esp32-bridge
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- /dev/bus/usb:/dev/bus/usb
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- /dev/i2c-7:/dev/i2c-7
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- /dev/video0:/dev/video0
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- /dev/video2:/dev/video2
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- /dev/video4:/dev/video4
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- /dev/video6:/dev/video6
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch saltybot_bringup slam_rtabmap.launch.py
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"
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# ── RPLIDAR driver node ────────────────────────────────────────────────────
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rplidar:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-rplidar
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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devices:
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- /dev/rplidar:/dev/rplidar
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch rplidar_ros rplidar_a1_launch.py
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serial_port:=/dev/rplidar
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frame_id:=laser
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"
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# ── RealSense D435i driver node ────────────────────────────────────────────
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realsense:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-realsense
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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devices:
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- /dev/bus/usb:/dev/bus/usb
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volumes:
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- /dev:/dev
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch realsense2_camera rs_launch.py
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enable_color:=true
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enable_depth:=true
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enable_gyro:=true
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enable_accel:=true
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unite_imu_method:=linear_interpolation
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depth_module.profile:=640x480x30
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rgb_camera.profile:=640x480x30
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"
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# ── ESP32-S3 bridge node (bidirectional serial<->ROS2) ───────────────────────
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esp32-bridge:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-esp32-bridge
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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devices:
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- /dev/esp32-bridge:/dev/esp32-bridge
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch saltybot_bridge bridge.launch.py
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mode:=bidirectional
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serial_port:=/dev/esp32-bridge
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"
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# ── 4x IMX219 CSI cameras ──────────────────────────────────────────────────
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csi-cameras:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-csi-cameras
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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privileged: true
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_DRIVER_CAPABILITIES=all
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devices:
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- /dev/video0:/dev/video0
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- /dev/video2:/dev/video2
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- /dev/video4:/dev/video4
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- /dev/video6:/dev/video6
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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ros2 launch saltybot_cameras csi_cameras.launch.py
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width:=640
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height:=480
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fps:=30
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"
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# ── Surround vision — 360 bird's-eye view + Nav2 camera obstacle layer ─────
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saltybot-surround:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-surround
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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depends_on:
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- csi-cameras
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environment:
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_DRIVER_CAPABILITIES=all
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- ROS_DOMAIN_ID=42
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volumes:
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- ./ros2_ws/src:/ros2_ws/src:rw
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- ./config:/config:ro
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
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ros2 launch saltybot_surround surround_vision.launch.py
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start_cameras:=false
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camera_height:=0.30
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publish_rate:=5.0
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"
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# ── rosbridge WebSocket server — ws://jetson:9090 ──────────────────────────
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rosbridge:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-rosbridge
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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depends_on:
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- saltybot-ros2
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- esp32-bridge
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- csi-cameras
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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volumes:
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- ./ros2_ws/src:/ros2_ws/src:rw
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- ./config:/config:ro
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
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ros2 launch saltybot_bringup rosbridge.launch.py
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"
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# -- Remote e-stop bridge (MQTT over 4G -> ESP32-S3 CDC) ---------------------
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# Subscribes to saltybot/estop MQTT topic. {"kill":true} -> 'E\r\n' to ESP32-S3.
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# Cellular watchdog: 5s MQTT drop in AUTO mode -> 'F\r\n' (ESTOP_CELLULAR_TIMEOUT).
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remote-estop:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-remote-estop
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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depends_on:
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- esp32-bridge
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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devices:
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- /dev/esp32-bridge:/dev/esp32-bridge
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volumes:
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- ./ros2_ws/src:/ros2_ws/src:rw
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- ./config:/config:ro
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
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pip install paho-mqtt --quiet 2>/dev/null || true &&
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ros2 launch saltybot_bridge remote_estop.launch.py
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"
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# ── Nav2 autonomous navigation stack ──────────────────────────────────────
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saltybot-nav2:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-nav2
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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depends_on:
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- saltybot-ros2
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environment:
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_DRIVER_CAPABILITIES=all
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- ROS_DOMAIN_ID=42
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volumes:
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- ./ros2_ws/src:/ros2_ws/src:rw
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- ./config:/config:ro
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
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ros2 launch saltybot_bringup nav2.launch.py
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"
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# ── Outdoor navigation — OSM routing + GPS waypoints + geofence ───────────
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# Start only for outdoor missions. Usage:
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# ros2 param set /osm_router goal_lat 37.7749
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# ros2 param set /osm_router goal_lon -122.4194
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# ros2 service call /outdoor/plan_route std_srvs/srv/Trigger '{}'
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# ros2 service call /outdoor/start_navigation std_srvs/srv/Trigger '{}'
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saltybot-outdoor:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-outdoor
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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depends_on:
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- saltybot-nav2
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environment:
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_DRIVER_CAPABILITIES=all
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- ROS_DOMAIN_ID=42
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volumes:
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- ./ros2_ws/src:/ros2_ws/src:rw
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- ./config:/config:ro
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- /mnt/nvme/saltybot/osm_cache:/data/osm_cache:rw
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devices:
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- /dev/sim7600:/dev/sim7600
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
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ros2 launch saltybot_outdoor outdoor_nav.launch.py
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use_rtk:=false
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fence_active:=true
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"
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# ── Social-bot AI stack (speech + LLM + TTS + face recognition) ─────────────
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# Issue #88: Orin dev environment for social-bot
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# Start: docker compose up -d saltybot-social
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# Logs: docker compose logs -f saltybot-social
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saltybot-social:
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image: saltybot/social:latest
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build:
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context: .
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dockerfile: Dockerfile.social
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container_name: saltybot-social
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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depends_on:
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- esp32-bridge
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environment:
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- NVIDIA_VISIBLE_DEVICES=all
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- NVIDIA_DRIVER_CAPABILITIES=all,audio
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- MODEL_DIR=/models
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- PIPER_VOICE_DIR=/models/piper
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- LLAMA_N_GPU_LAYERS=20
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# Audio device routing (override if mic/speaker cards differ)
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- ALSA_MIC_CARD=1
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- ALSA_SPEAKER_CARD=2
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volumes:
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- ./ros2_ws/src:/ros2_ws/src:rw
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- ./config:/config:ro
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# Persistent model storage on NVMe (survives container restarts)
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- /mnt/nvme/saltybot/models:/models:rw
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# Enrollment database (face embeddings, voice prints, conversation history)
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- /mnt/nvme/saltybot/social_db:/social_db:rw
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# SOUL.md personality file
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- /mnt/nvme/saltybot/soul:/soul:ro
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devices:
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# USB mic array (ReSpeaker 2-Mic / 4-Mic or compatible)
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- /dev/snd:/dev/snd
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# USB webcam / face camera (optional, RealSense preferred)
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- /dev/bus/usb:/dev/bus/usb
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group_add:
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- audio
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cap_add:
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- SYS_NICE # allow real-time thread priority for audio
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ulimits:
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rtprio: 95
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memlock: -1
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
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ros2 launch saltybot_social social_bot.launch.py
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"
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# ── Here4 DroneCAN GPS + NTRIP RTK client ────────────────────────────────
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# Issue #725 — CubePilot Here4 RTK GPS via DroneCAN (1Mbps, SocketCAN)
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# Start: docker compose up -d here4-gps
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# Monitor fix: docker compose exec here4-gps ros2 topic echo /gps/rtk_status
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# Configure NTRIP: set NTRIP_MOUNT, NTRIP_USER, NTRIP_PASSWORD env vars
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here4-gps:
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image: saltybot/ros2-humble:jetson-orin
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build:
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context: .
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dockerfile: Dockerfile
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container_name: saltybot-here4-gps
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restart: unless-stopped
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runtime: nvidia
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network_mode: host
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depends_on:
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- saltybot-nav2
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environment:
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- ROS_DOMAIN_ID=42
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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# NTRIP credentials — set these in your .env or override at runtime
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- NTRIP_MOUNT=${NTRIP_MOUNT:-}
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- NTRIP_USER=${NTRIP_USER:-}
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- NTRIP_PASSWORD=${NTRIP_PASSWORD:-}
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volumes:
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- ./ros2_ws/src:/ros2_ws/src:rw
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- ./config:/config:ro
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devices:
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- /dev/can0:/dev/can0
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cap_add:
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- NET_ADMIN # needed for SocketCAN ip link set can0 up inside container
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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source /ros2_ws/install/local_setup.bash 2>/dev/null || true &&
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pip install python-dronecan --quiet 2>/dev/null || true &&
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ros2 launch saltybot_dronecan_gps here4_gps.launch.py
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can_interface:=can0
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can_bitrate:=1000000
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ntrip_caster:=rtk2go.com
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ntrip_mount:=${NTRIP_MOUNT:-}
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ntrip_user:=${NTRIP_USER:-}
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ntrip_password:=${NTRIP_PASSWORD:-}
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"
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volumes:
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saltybot-maps:
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driver: local
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