fix healthcheck

Dockerfile.hardware

@@ -99,7 +99,8 @@ COPY --from=healthcheck_builder /ros2_ws /ros2_ws_healthcheck
 
 # for backward compatibility
 RUN cp src/rosbot_utils/rosbot_utils/flash-firmware.py /usr/bin/ && \
-    cp src/rosbot_utils/rosbot_utils/flash-firmware.py /
+    cp src/rosbot_utils/rosbot_utils/flash-firmware.py / && \
+    cp install/rosbot_utils/share/rosbot_utils/firmware/firmware-*.bin /root/firmware.bin
 
 RUN apt-get update && apt-get install -y \
         python3-pip \
@@ -129,5 +130,7 @@ COPY healthcheck.sh /
 
 COPY print-serial-number.py /usr/bin/
 
-HEALTHCHECK --interval=5s --timeout=2s  --start-period=5s --retries=4 \
+ENV ROS_NAMESPACE=
+
+HEALTHCHECK --interval=5s --timeout=2s  --start-period=5s --retries=6 \
     CMD ["/healthcheck.sh"]

README.md

@@ -7,6 +7,26 @@ Docker Image for ROS Humble Node providing interface for STM32 firmware over [Mi
 
 With *docker-compose* configuration shown in [demo](./demo) it can communicate with hardware of ROSbot 2R, ROSbot 2 PRO and ROSbot 2.0.
 
+## Quick Start
+
+```yaml
+services:
+
+  rosbot:
+    image: husarion/rosbot:humble
+    devices:
+      - ${SERIAL_PORT:?err}
+      - /dev/bus/usb/ # FTDI (if connecting over USB port with STM32)
+    environment:
+      - ROS_DOMAIN_ID=30
+    command: >
+      ros2 launch rosbot_bringup combined.launch.py 
+        mecanum:=${MECANUM:-False}
+        serial_port:=$SERIAL_PORT 
+        serial_baudrate:=576000
+        namespace:=robot1
+```
+
 ## Flashing the firmware
 
 Firmware if flashed from inside of the container running on the ROSbot:

demo/namespace/compose.yaml

@@ -15,13 +15,16 @@ services:
     build:
       context: ../..
       dockerfile: Dockerfile.hardware
+    # image: husarion/rosbot:humble-ros2-robot-utils
     network_mode: host
     ipc: host
     devices:
       - ${SERIAL_PORT:?err}
-      - /dev/bus/usb/
+      - /dev/bus/usb/ # FTDI
     environment:
       - FASTRTPS_DEFAULT_PROFILES_FILE=/shm-only.xml
+      - ROS_DOMAIN_ID=30
+      - ROS_NAMESPACE=robot1 # For healthckeck node
     command: >
       ros2 launch rosbot_bringup combined.launch.py 
         mecanum:=${MECANUM:-False}

healthcheck.cpp

@@ -1,6 +1,7 @@
 #include "fstream"
 #include "nav_msgs/msg/odometry.hpp"
 #include "rclcpp/rclcpp.hpp"
+#include <cstdlib>
 
 using namespace std::chrono_literals;
 
@@ -33,9 +34,15 @@ void healthy_check() {
 
 int main(int argc, char *argv[]) {
   rclcpp::init(argc, argv);
+
+  std::string topic = "odometry/filtered";
+  if(const char* ns = std::getenv("ROS_NAMESPACE")) {
+    topic = std::string(ns) + "/" + topic;
+  }
+
   auto node = rclcpp::Node::make_shared("healthcheck_node");
   auto sub = node->create_subscription<nav_msgs::msg::Odometry>(
-      "odometry/filtered", rclcpp::SensorDataQoS().keep_last(1), msg_callback);
+      topic, rclcpp::SensorDataQoS().keep_last(1), msg_callback);
 
   while (rclcpp::ok()) {
     rclcpp::spin_some(node);