added rmq subscriber to launch with compose

docker/readme.md

@@ -15,7 +15,7 @@ Make sure docker is installed and the user has access to docker service.
 #### Run: 
 
 ```bash
-docker-compose -f terminal.yml -d up
+docker-compose -f terminal.yml up -d
 ```
 To controlled the robotti attach to the teleop terminal by:
 ```bash

docker/rmq-publisher/docker-compose.yml → docker/rmq-bridge/docker-compose.yml

@@ -13,11 +13,11 @@ services:
     #   - 15672:15672
     #   - 1883:1883
   
-  rmq-publisher:
-    container_name: drobotti-rmq-publisher
+  rmq-bridge:
+    container_name: drobotti-rmq-bridge
     build:
       context: ./../../
-      dockerfile: ./docker/rmq-publisher/rmq_publisher.Dockerfile
+      dockerfile: ./docker/rmq-bridge/rmq_bridge.Dockerfile
     restart: unless-stopped
     network_mode: "host"
     # ports:

docker/rmq-publisher/rmq_publisher.Dockerfile → docker/rmq-bridge/rmq_bridge.Dockerfile

@@ -47,4 +47,4 @@ RUN sed --in-place --expression \
       /ros_entrypoint.sh
 
 # run launch file
-CMD ["ros2", "launch", "rmq_bridge", "rmq_publisher_docker.launch.py"]
\ No newline at end of file
+CMD ["ros2", "launch", "rmq_bridge", "rmq_bridge_docker.launch.py"]
\ No newline at end of file

docker/terminal.yml

@@ -35,11 +35,11 @@ services:
       - drobotti
     stdin_open: true # docker run -i
     tty: true        # docker run -t
-  rmq_publisher:
-    container_name: rmq-pub
+  rmq_bridge:
+    container_name: rmq-bridge
     build:
       context: ../
-      dockerfile: ./docker/rmq-publisher/rmq_publisher.Dockerfile
+      dockerfile: ./docker/rmq-bridge/rmq_bridge.Dockerfile
     depends_on:
       - rmq_server
       - teleop_terminal

src/rmq_bridge/config/default.yml

@@ -2,6 +2,14 @@ rmq_publisher:
   ros__parameters:
     server_hostname: "localhost"
 
+rmq_subscriber:
+  ros__parameters:
+    server_hostname: "localhost"
+
 rmq_publisher_docker:
+  ros__parameters:
+    server_hostname: "rmq-srv" #containername
+
+rmq_subscriber_docker:
   ros__parameters:
     server_hostname: "rmq-srv" #containername
\ No newline at end of file

src/rmq_bridge/launch/rmq_publisher_docker.launch.py → src/rmq_bridge/launch/rmq_bridge_docker.launch.py

@@ -12,5 +12,13 @@ def generate_launch_description():
             executable='rmq_publisher',
             name='rmq_publisher_docker',  # name in ros network
             output='screen'
-        )
+        ),
+        launch_ros.actions.Node(
+            parameters=[get_package_share_directory(
+                "rmq_bridge") + '/config/default.yml'],
+            package='rmq_bridge',
+            executable='rmq_subscriber',
+            name='rmq_subscriber_docker',  # name in ros network
+            output='screen'
+        ),
     ])

src/rmq_bridge/rmq_bridge/rmq_subscriber.py

@@ -21,6 +21,8 @@ class RabbitMQSubscriber(Node):
     def __init__(self):
         super().__init__("rabbitmq_subscriber")
 
+        self.declare_parameter('server_hostname','localhost')
+
         self.init_rabbitmq()
 
         self.forward_this = {
@@ -79,7 +81,7 @@ class RabbitMQSubscriber(Node):
         print("Initializing Connection")
         try:
             self.rmq_connection = pika.BlockingConnection(
-                pika.ConnectionParameters(host='localhost')
+                pika.ConnectionParameters(self.get_parameter('server_hostname').get_parameter_value().string_value)
             )
             self.rmq_channel = self.rmq_connection.channel()
             self.rmq_channel.exchange_declare(