Merge pull request #8 from helloric/adjustments-for-udev-rule

adjusted to udev rule and some minor fixes

Author: brean

.github/workflows/build_and_push_docker_images.yml

@@ -4,7 +4,7 @@ name: Create and publish a Docker image
 # Configures this workflow to run every time a change is pushed to the branch called `release`.
 on:
   push:
-    branches: ['main', '3-build-pipeline-to-push-images-into-gh-container-registry']
+    branches: ['main']
 
 # Defines two custom environment variables for the workflow. These are used for the Container registry domain, and a name for the Docker image that this workflow builds.
 env:

compose.yml

@@ -1,6 +1,7 @@
 services:
   ricbot:
     restart: always
+    network_mode: host
     platform: "linux/arm64"
     # just the basic robot (headless, runs drivers, publishes description)
     build:
@@ -19,8 +20,8 @@ services:
     devices:
       # USB devices to connect to kobuki and Lidar
       - /dev/bus/usb/:/dev/bus/usb/
-      - /dev/ttyUSB0:/dev/ttyUSB0
-      - /dev/ttyUSB1:/dev/ttyUSB1
+      - /dev/kobuki:/dev/kobuki
+      - /dev/lidar:/dev/lidar
 
   ui:
     restart: always
@@ -36,6 +37,7 @@ services:
 
   ui_com:
     restart: always
+    network_mode: host
     platform: "linux/arm64"
     image: ghcr.io/helloric/helloric_ui_com:latest
     build:
@@ -49,6 +51,7 @@ services:
       - 7000:7000
 
   teleop:
+    network_mode: host
     platform: "linux/arm64"
     build:
       context: ./
@@ -60,6 +63,7 @@ services:
     image: ghcr.io/helloric/teleop:latest
 
   ds4:
+    network_mode: host
     platform: "linux/arm64"
     build:
       context: ./