From 286d0cae9fc8a96e92cc5ba35c308ad07cfd66e8 Mon Sep 17 00:00:00 2001
From: Jakub Delicat <jakub.delicat@husarion.com>
Date: Mon, 15 Jan 2024 08:34:18 +0100
Subject: [PATCH] Added multirobot demo and set using prebuilt imags as default
 for gazebo

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
---
 demo/compose.gazebo.multirobot.yaml | 33 +++++++++++++++++++++++++++++
 demo/compose.gazebo.yaml            |  8 +++----
 2 files changed, 37 insertions(+), 4 deletions(-)
 create mode 100644 demo/compose.gazebo.multirobot.yaml

diff --git a/demo/compose.gazebo.multirobot.yaml b/demo/compose.gazebo.multirobot.yaml
new file mode 100644
index 0000000..d0e960b
--- /dev/null
+++ b/demo/compose.gazebo.multirobot.yaml
@@ -0,0 +1,33 @@
+# Quick Start
+#
+# 1. run `xhost +local:docker && docker compose -f compose.gazebo.yaml up` on the laptop
+# 2. open a shell inside a docker container `docker compose -f compose.gazebo.yaml exec -it rosbot bash`
+# 2. run `ros2 run teleop_twist_keyboard teleop_twist_keyboard` inside the container
+
+x-gpu-config:
+  &gpu-config
+  runtime: nvidia
+  environment:
+    - DISPLAY=${DISPLAY:?err}
+    - NVIDIA_VISIBLE_DEVICES=all
+    - NVIDIA_DRIVER_CAPABILITIES=all
+
+x-cpu-config:
+  &cpu-config
+  environment:
+    - DISPLAY=${DISPLAY:?err}
+    - LIBGL_ALWAYS_SOFTWARE=1
+
+services:
+  rosbot:
+    # image: husarion/rosbot-gazebo:humble
+    # build:
+    #   context: ../
+    #   dockerfile: Dockerfile.gazebo
+    <<: [ *gpu-config]
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+    command: >
+      ros2 launch rosbot_gazebo simulation.launch.py
+      mecanum:=${MECANUM:-False}
+      robots:="robot1={y: 0.0}; robot2={y: 1.0}; robot3={y: 2.0};
diff --git a/demo/compose.gazebo.yaml b/demo/compose.gazebo.yaml
index 52032cd..54c35c9 100644
--- a/demo/compose.gazebo.yaml
+++ b/demo/compose.gazebo.yaml
@@ -20,10 +20,10 @@ x-cpu-config:
 
 services:
   rosbot:
-    # image: husarion/rosbot-gazebo:humble
-    build:
-      context: ../
-      dockerfile: Dockerfile.gazebo
+    image: husarion/rosbot-gazebo:humble
+    # build:
+    #   context: ../
+    #   dockerfile: Dockerfile.gazebo
     <<: [ *gpu-config]
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw