Merge pull request #325 from OUXT-Polaris/fix/vrx

Fix/vrx

.github/workflows/docker/vrx/Dockerfile

@@ -49,4 +49,4 @@ COPY ./vrx_entrypoint.sh /
 
 COPY ./run_vrx_gazebo.bash /
 
-ENTRYPOINT ["/vrx_entrypoint.sh"]
+ENTRYPOINT ["/vrx_entrypoint.sh"]

.github/workflows/docker/vrx/README.md

@@ -1,11 +1,17 @@
 # Docker Image for Virtual RobotX
 
 ## How to use
-
+Firstly, run wamvtan/vrx
 ```bash
 docker run -it wamvtan/vrx /bin/bash
 ros2 launch vrx_gz competition.launch.py world:=stationkeeping_task headless:=true urdf:=/home/config/wamv_target.urdf
 ```
+Next, run another docker_image wamvtan/dev_container which includes our autonomous system.
+```bash
+docker run -it wamvtan/dev_container /bin/bash
+ros2 run vrx_bridge vrx_bridge_node&
+ros2 launch navi_sim navi_sim.launch.py&
+```
 
 In default setting, you can publish/subscribe these topics.  
 

.github/workflows/docker/vrx/run_vrx_gazebo.bash

@@ -2,10 +2,10 @@
 ros2 launch vrx_gazebo generate_wamv.launch.py component_yaml:=/home/config/component_config.yaml thruster_yaml:=/home/config/thruster_config.yaml wamv_target:=/home/config/wamv_target.urdf wamv_locked:=False
 
 # launch nav_sim 
-ros2 launch navi_sim navi_sim.launch.py&
+#ros2 launch navi_sim navi_sim.launch.py&
 
 # run vrx_bridge node to exchange sensor info with nav_sim
-ros2 run vrx_bridge vrx_bridge_node&
+#ros2 run vrx_bridge vrx_bridge_node&
 
 # launch vrx gazebo
 # ros2 launch vrx_gz competition.launch.py world:=stationkeeping_task headless:=true urdf:=/home/config/wamv_target.urdf

.github/workflows/docker/vrx/vrx_entrypoint.sh

@@ -13,4 +13,4 @@ export GAZEBO_IP=127.0.0.1
 export GAZEBO_IP_WHITE_LIST=127.0.0.1
 
 /run_vrx_gazebo.bash
-exec "$@"
+exec "$@"