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bug fixes (--no-cache, vicon launch file, dinova1 and dinova2 export) #1

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bug fixes (--no-cache, vicon launch file, dinova1 and dinova2 export) #1

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2 changes: 1 addition & 1 deletion docker/build
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Original file line number Diff line number Diff line change
Expand Up @@ -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} .
sudo docker build --no-cache -t compliant_control_${ROS}_${INSTALL} -f docker/Dockerfile --build-arg ROS=${ROS} --build-arg INSTALL=${INSTALL} --privileged .
4 changes: 2 additions & 2 deletions export → export_dinova1
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Original file line number Diff line number Diff line change
@@ -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=""
Expand All @@ -19,4 +19,4 @@ else
export ROS_IP="${DEVICE_IP}";
echo ROS_MASTER_URI: ${ROS_MASTER_URI}
echo ROS_IP: ${ROS_IP}
fi
fi
22 changes: 22 additions & 0 deletions export_dinova2
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Original file line number Diff line number Diff line change
@@ -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
21 changes: 21 additions & 0 deletions ros/noetic/src/launcher/launch/vicon_node.launch
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Original file line number Diff line number Diff line change
@@ -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>