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Remove discovery server #176

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Merged
ConnorNeed merged 2 commits into from
Jul 21, 2026
Merged

Remove discovery server #176

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d428997
feat: remove discovery server
ConnorNeed Jul 20, 2026
a21e632
fix: eef directions
ConnorNeed Jul 20, 2026
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16 changes: 0 additions & 16 deletions setup/start_rover.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -3,29 +3,13 @@ sudo enablecan.sh

ROVER_DOCKER_IMAGE=cprtsoftware/rover:latest

disco_server_id=$(docker ps -q -f name=disco-server)
if [ -z "$disco_server_id" ]; then
echo "Starting the discovery server..."
docker run --rm -d \
--network host \
--ipc=host \
-v /var/run/docker.sock:/var/run/docker.sock \
--name disco-server \
$ROVER_DOCKER_IMAGE \
fastdds discovery -i 0 -p 11811
else
echo "Discovery server is already running."
fi

web_server_id=$(docker ps -q -f name=web-server)
if [ -z "$web_server_id" ]; then
echo "Starting the web server..."
docker run --rm -d \
--network host \
--ipc host \
--name web-server \
--env ROS_DISCOVERY_SERVER=192.168.0.55:11811 \
--env ROS_SUPER_CLIENT=TRUE \
$ROVER_DOCKER_IMAGE \
ros2 launch rosbridge_server rosbridge_websocket_launch.xml
else
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1 change: 1 addition & 0 deletions src/Arm/arm_control/launch/arm.launch.py
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Expand Up @@ -111,6 +111,7 @@ def arm_launch(moveit_config, launch_package_path=None) -> LaunchDescription:
{"max_current": 1.0},
{"brake_mode": True},
{"interface": "can1"},
{"invert": True},
],
)
joystick_control_dir = get_package_share_directory("joystick_control")
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