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iserverobotics-bonaalexlin2
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feat: add foxglove bridge support and default to FASTLIO2
- Add ros-foxglove-bridge to Dockerfile runtime dependencies - Launch foxglove_bridge on port 8765 in docker-compose command - Default to use_fastlio2:=true in launch command
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docker/Dockerfile

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@@ -152,6 +152,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-rviz2 \
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ros-${ROS_DISTRO}-joy \
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ros-${ROS_DISTRO}-rmw-fastrtps-cpp \
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ros-${ROS_DISTRO}-foxglove-bridge \
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libpcl-dev \
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libgoogle-glog-dev \
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libgflags-dev \

docker/docker-compose.yml

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@@ -72,9 +72,11 @@ services:
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- -c
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- |
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echo "Starting real robot system with route planner..."
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ros2 launch vehicle_simulator system_real_robot_with_route_planner.launch.py &
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ros2 launch vehicle_simulator system_real_robot_with_route_planner.launch.py use_fastlio2:=true &
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NAV_PID=$$!
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sleep 2
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echo "Starting Foxglove Bridge on port 8765..."
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ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765 &
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if [ "$$USE_RVIZ" = "true" ]; then
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echo "Starting RViz2..."
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ros2 run rviz2 rviz2 -d /ros2_ws/src/route_planner/far_planner/rviz/default.rviz &

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