From aa71b8f6a5b6f36b3f92458cccf97c4a168db4a6 Mon Sep 17 00:00:00 2001 From: Peter David Fagan Date: Sun, 2 Jun 2024 16:52:33 +0100 Subject: [PATCH] Update deploy_client.yaml --- .../transporter_deployment/deploy_client.yaml | 21 ++++++++++++++++--- 1 file changed, 18 insertions(+), 3 deletions(-) diff --git a/src/applications/transporter_deployment/deploy_client.yaml b/src/applications/transporter_deployment/deploy_client.yaml index f294c0d..2a7c446 100644 --- a/src/applications/transporter_deployment/deploy_client.yaml +++ b/src/applications/transporter_deployment/deploy_client.yaml @@ -24,10 +24,8 @@ services: dockerfile: .docker/motion_planning/Dockerfile.motion_planning environment: - DISPLAY=${DISPLAY} - - XAUTHORITY=${DOCKER_XAUTH} volumes: - /tmp/.X11-unix:/tml/.X11-unix:rw - #- ${DOCKER_XAUTH}:${DOCKER_XAUTH} - ../../applications:/root/panda_ws/src/applications network_mode: "host" command: ros2 launch panda_motion_planning_demos motion_planning_prerequisites.launch.py @@ -45,4 +43,21 @@ services: privileged: true runtime: nvidia network_mode: "host" - command: python3 ./src/object_detection/ros2_object_detection/ros2_object_detection_components/ros2_object_detection_components/grounded_dino.py + command: python3 ./src/object_detection/ros2_object_detection/ros2_object_detection_components/ros2_object_detection_components/grounded_dino.py --topic=/zed/zed_camera/rgb/image_rect_color + + transporter_deployment: + image: ghcr.io/peterdavidfagan/transporter_deployment:humble + build: + context: ../../../../ + dockerfile: .docker/transporter_deployment/Dockerfile + environment: + - NVIDIA_VISIBLE_DEVICES=all + - DISPLAY=${DISPLAY} + volumes: + - /tmp/.X11-unix:/tml/.X11-unix:rw + - ./../../data_collection:/root/data_collection_ws/src/data_collection + - ./../../motion_planning:/root/data_collection_ws/src/motion_planning + - ./../../applications:/root/data_collection_ws/src/applications + network_mode: "host" + runtime: nvidia + command: python3 src/applications/transporter_deployment/sort_fruit.py