viper imu

.dockerignore

@@ -0,0 +1,34 @@
+# Include any files or directories that you don't want to be copied to your
+# container here (e.g., local build artifacts, temporary files, etc.).
+#
+# For more help, visit the .dockerignore file reference guide at
+# https://docs.docker.com/go/build-context-dockerignore/
+
+**/.classpath
+**/.dockerignore
+**/.env
+**/.git
+**/.gitignore
+**/.project
+**/.settings
+**/.toolstarget
+**/.vs
+**/.vscode
+**/.next
+**/.cache
+**/*.*proj.user
+**/*.dbmdl
+**/*.jfm
+**/charts
+**/docker-compose*
+**/compose*
+**/Dockerfile*
+**/node_modules
+**/npm-debug.log
+**/obj
+**/secrets.dev.yaml
+**/values.dev.yaml
+**/build
+**/dist
+LICENSE
+README.md

Dockerfile

@@ -0,0 +1,38 @@
+# syntax=docker/dockerfile:1
+
+# Comments are provided throughout this file to help you get started.
+# If you need more help, visit the Dockerfile reference guide at
+# https://docs.docker.com/go/dockerfile-reference/
+
+# Want to help us make this template better? Share your feedback here: https://forms.gle/ybq9Krt8jtBL3iCk7
+
+ARG NODE_VERSION=Viper
+
+FROM node:${NODE_VERSION}-alpine
+
+# Use production node environment by default.
+ENV NODE_ENV production
+
+
+WORKDIR /usr/src/app
+
+# Download dependencies as a separate step to take advantage of Docker's caching.
+# Leverage a cache mount to /root/.npm to speed up subsequent builds.
+# Leverage a bind mounts to package.json and package-lock.json to avoid having to copy them into
+# into this layer.
+RUN --mount=type=bind,source=package.json,target=package.json \
+    --mount=type=bind,source=package-lock.json,target=package-lock.json \
+    --mount=type=cache,target=/root/.npm \
+    npm ci --omit=dev
+
+# Run the application as a non-root user.
+USER node
+
+# Copy the rest of the source files into the image.
+COPY . .
+
+# Expose the port that the application listens on.
+EXPOSE 8088
+
+# Run the application.
+CMD ros2 launch viper viper-quad.py

README.Docker.md

@@ -0,0 +1,22 @@
+### Building and running your application
+
+When you're ready, start your application by running:
+`docker compose up --build`.
+
+Your application will be available at http://localhost:8088.
+
+### Deploying your application to the cloud
+
+First, build your image, e.g.: `docker build -t myapp .`.
+If your cloud uses a different CPU architecture than your development
+machine (e.g., you are on a Mac M1 and your cloud provider is amd64),
+you'll want to build the image for that platform, e.g.:
+`docker build --platform=linux/amd64 -t myapp .`.
+
+Then, push it to your registry, e.g. `docker push myregistry.com/myapp`.
+
+Consult Docker's [getting started](https://docs.docker.com/go/get-started-sharing/)
+docs for more detail on building and pushing.
+
+### References
+* [Docker's Node.js guide](https://docs.docker.com/language/nodejs/)

compose.yaml

@@ -0,0 +1,51 @@
+# Comments are provided throughout this file to help you get started.
+# If you need more help, visit the Docker compose reference guide at
+# https://docs.docker.com/go/compose-spec-reference/
+
+# Here the instructions define your application as a service called "server".
+# This service is built from the Dockerfile in the current directory.
+# You can add other services your application may depend on here, such as a
+# database or a cache. For examples, see the Awesome Compose repository:
+# https://github.com/docker/awesome-compose
+services:
+  server:
+    build:
+      context: .
+    environment:
+      NODE_ENV: production
+    ports:
+      - 8088:8088
+
+# The commented out section below is an example of how to define a PostgreSQL
+# database that your application can use. `depends_on` tells Docker Compose to
+# start the database before your application. The `db-data` volume persists the
+# database data between container restarts. The `db-password` secret is used
+# to set the database password. You must create `db/password.txt` and add
+# a password of your choosing to it before running `docker-compose up`.
+#     depends_on:
+#       db:
+#         condition: service_healthy
+#   db:
+#     image: postgres
+#     restart: always
+#     user: postgres
+#     secrets:
+#       - db-password
+#     volumes:
+#       - db-data:/var/lib/postgresql/data
+#     environment:
+#       - POSTGRES_DB=example
+#       - POSTGRES_PASSWORD_FILE=/run/secrets/db-password
+#     expose:
+#       - 5432
+#     healthcheck:
+#       test: [ "CMD", "pg_isready" ]
+#       interval: 10s
+#       timeout: 5s
+#       retries: 5
+# volumes:
+#   db-data:
+# secrets:
+#   db-password:
+#     file: db/password.txt
+

launch/viper-quad.py

@@ -1,4 +1,5 @@
 from launch import LaunchDescription
+from launch.actions import ExecuteProcess
 from launch_ros.actions import Node
 
 def generate_launch_description():
@@ -18,5 +19,9 @@ def generate_launch_description():
                 {'teleop_topic_liveliness_lease_duration': 1000},
 
             ]
+        ),
+        ExecuteProcess(
+            cmd=['ros2', 'topic', 'echo', 'imu'],
+            output='screen'
         )
     ])