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j3soon / ros2-essentials

A repo containing essential ROS2 (Humble) features for controlling Autonomous Mobile Robots (AMRs).
Apache License 2.0
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Setup Velodyne LiDAR and test with cartographer #24

Closed Assume-Zhan closed 1 month ago

Assume-Zhan commented 8 months ago

Description

Closes: #21

Assume-Zhan commented 1 month ago

When deploying in a real-world environment, we have modified some parameters in the compose file to ensure communication between different machines and containers, such as ROS_DOMAIN_ID, shared memory mounts. However, in the current pull request, I didn't update these configurations because they are not default settings and might be strange for other workspaces. Should we consider using another service in the compose file for real-world settings, or is it better to update these settings directly in the same service?

j3soon commented 1 month ago

Yes, as in today's offline discussion, I prefer using the same service for ease of maintenance. You can change ROS_DOMAIN_ID to 0 and mount /dev/shm by default.

For similar changes in other workspaces, please open an additional PR.

Thank you!