Added multirobot demo and set using prebuilt imags as default for gazebo

demo/README.md

@@ -25,14 +25,20 @@ docker compose -f compose.yaml up
 ```
 
 ## Simulation
-If you don't have Nvidia GPU replace `*gpu-config` with `*cpu-config` in `rosbot` service inside `compose.simulation.yaml` file.
+If you don't have Nvidia GPU replace `*gpu-config` with `*cpu-config` in `rosbot` service inside `compose.gazebo.yaml` file.
 
 In the PC's shell execute (in the `demo/` directory):
 ```
 xhost local:root
 docker compose -f compose.gazebo.yaml up
 ```
 
+If you want to use multiple robots check the `compose.gazebo.multirobot.yaml` (in the `demo/` directory):
+```
+xhost local:root
+docker compose -f compose.gazebo.multiplerobot.yaml up
+```
+
 ## Drive the ROSbot
 In another shell (if you use hardware use another ROSbot's shell) enter the docker container:
 ```
@@ -43,4 +49,9 @@ and run inside `teleop_twist_keyboard` to drive the ROSbot
 ros2 run teleop_twist_keyboard teleop_twist_keyboard
 ```
 
+In case of driving one of the robot running `compose.gazebo.multirobot.yaml` add the namespace to the `teleop_twist_keyboard`. For the `robot1`:
+```
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r __ns:=/robot1
+```
+
 With keys `i`, `j`, `l`, `,` you can drive forward, counter clockwise, clockwise and backwards. If you are using macanum wheels (see `demo/.env` file) hold `Shift` key that way the ROSbot goes left and right with `j` and `l` keys instead rotates.

demo/compose.gazebo.multirobot.yaml

@@ -0,0 +1,33 @@
+# Quick Start
+#
+# 1. run `xhost +local:docker && docker compose -f compose.gazebo.multirobot.yaml up` on the laptop
+# 2. open a shell inside a docker container `docker compose -f compose.gazebo.multirobot.yaml exec -it rosbot bash`
+# 2. run for e. g. `ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r __ns:=/robot1` inside the container
+
+x-gpu-config:
+  &gpu-config
+  runtime: nvidia
+  environment:
+    - DISPLAY=${DISPLAY:?err}
+    - NVIDIA_VISIBLE_DEVICES=all
+    - NVIDIA_DRIVER_CAPABILITIES=all
+
+x-cpu-config:
+  &cpu-config
+  environment:
+    - DISPLAY=${DISPLAY:?err}
+    - LIBGL_ALWAYS_SOFTWARE=1
+
+services:
+  rosbot:
+    image: husarion/rosbot-gazebo:humble-nightly
+    # build:
+    #   context: ../
+    #   dockerfile: Dockerfile.gazebo
+    <<: [ *gpu-config]
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+    command: >
+      ros2 launch rosbot_gazebo simulation.launch.py
+      mecanum:=${MECANUM:-False}
+      robots:="robot1={y: -4.0}; robot2={y: -2.0}; robot3={y: 4.0};"

demo/compose.gazebo.yaml

@@ -20,10 +20,10 @@ x-cpu-config:
 
 services:
   rosbot:
-    # image: husarion/rosbot-gazebo:humble
-    build:
-      context: ../
-      dockerfile: Dockerfile.gazebo
+    image: husarion/rosbot-gazebo:humble
+    # build:
+    #   context: ../
+    #   dockerfile: Dockerfile.gazebo
     <<: [ *gpu-config]
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw