From 3556fa8a6d2fea66b4539deda0427acb6bdad5b2 Mon Sep 17 00:00:00 2001
From: Saray <saraybakker@gmail.com>
Date: Tue, 19 Mar 2024 13:44:17 +0100
Subject: [PATCH] vicon bridge added as separate launch file with argument,
 export files for dinova1 and 2, --no-cache in build file

---
 docker/build                                  |  2 +-
 export => export_dinova1                      |  4 ++--
 export_dinova2                                | 22 +++++++++++++++++++
 .../src/launcher/launch/vicon_node.launch     | 21 ++++++++++++++++++
 4 files changed, 46 insertions(+), 3 deletions(-)
 rename export => export_dinova1 (85%)
 create mode 100644 export_dinova2
 create mode 100644 ros/noetic/src/launcher/launch/vicon_node.launch

diff --git a/docker/build b/docker/build
index f7e3b74..03ff8ac 100644
--- a/docker/build
+++ b/docker/build
@@ -39,4 +39,4 @@ if [ -z "$INSTALL" ]; then
 fi
 
 cd ..
-sudo docker build -t compliant_control_${ROS}_${INSTALL} -f docker/Dockerfile --build-arg ROS=${ROS} --build-arg INSTALL=${INSTALL} .
\ No newline at end of file
+sudo docker build --no-cache -t compliant_control_${ROS}_${INSTALL} -f docker/Dockerfile --build-arg ROS=${ROS} --build-arg INSTALL=${INSTALL} --privileged .
diff --git a/export b/export_dinova1
similarity index 85%
rename from export
rename to export_dinova1
index 1785481..fa6e5e2 100644
--- a/export
+++ b/export_dinova1
@@ -1,5 +1,5 @@
 #!/bin/bash
-
+# initialize ROS MASTER URI and ROS_IP for dinova1 (dingo 1 + kinova 1)
 # export ROS_MASTER_URI=http://192.168.0.121:11311
 
 DEVICE_IP=""
@@ -19,4 +19,4 @@ else
     export ROS_IP="${DEVICE_IP}";
     echo ROS_MASTER_URI: ${ROS_MASTER_URI}
     echo ROS_IP: ${ROS_IP}
-fi
\ No newline at end of file
+fi
diff --git a/export_dinova2 b/export_dinova2
new file mode 100644
index 0000000..e3b4662
--- /dev/null
+++ b/export_dinova2
@@ -0,0 +1,22 @@
+#!/bin/bash
+# initialize ROS MASTER URI and ROS_IP for dinova2 (dingo 2 + kinova 2)
+# export ROS_MASTER_URI=http://192.168.0.122:11311
+
+DEVICE_IP=""
+IPs=$(hostname -I)
+for IP in $IPs
+do
+    if [[ $IP == *"192.168.0."* ]]; then
+        DEVICE_IP=$IP;
+        break;
+    fi
+done
+
+if [ -z "$DEVICE_IP" ]; then
+    echo Device is not in expected newtork.;
+else
+    export ROS_MASTER_URI=http://192.168.0.122:11311;
+    export ROS_IP="${DEVICE_IP}";
+    echo ROS_MASTER_URI: ${ROS_MASTER_URI}
+    echo ROS_IP: ${ROS_IP}
+fi
diff --git a/ros/noetic/src/launcher/launch/vicon_node.launch b/ros/noetic/src/launcher/launch/vicon_node.launch
new file mode 100644
index 0000000..1f0ac18
--- /dev/null
+++ b/ros/noetic/src/launcher/launch/vicon_node.launch
@@ -0,0 +1,21 @@
+<launch>
+  <arg name="robot_name" default="dingo2"/> 
+
+  <!-- Launch the Vicon bridge to get pose readings.
+       Since there may be many robots around, we forward objects individually.
+       If you want to add an additional objectd (e.g. an obstacle), you need
+       to add a new element to each of the arrays below.
+
+       See also https://github.com/tud-amr/vicon-bridge for more information.
+       
+       Possible arguments for robot_name are: "dingo1" or "dingo2"
+  -->
+  <include file="$(find vicon_bridge)/launch/vicon.launch">
+    <arg name="object_names" default="[$(arg robot_name)]"/>
+    <arg name="object_msg_types" default="[geometry_msgs/PoseStamped]"/>
+    <arg name="object_frame_ids" default="[map]"/>
+    <arg name="object_publish_topics" default="[/vicon]"/>
+    <arg name="object_frequency_divider" default="[1]"/>
+  </include>
+
+</launch>