Add BME680 driver

https://github.com/Robotic-Decision-Making-Lab/bme680

diff --git a/docker/Dockerfile b/docker/Dockerfile
index 466b63add6105527113f2b745248d9cd47cb30a3..23d7a4957c5657ed6b07646e3a11df39253d0dbc 100644 (file)
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -4,4 +4,4 @@ RUN apt-get update && \
         apt-get install -y ros-jazzy-rplidar-ros less libi2c-dev ros-jazzy-robot-localization \
        ros-jazzy-slam-toolbox ros-jazzy-navigation2 ros-jazzy-nav2-bringup \
        ros-jazzy-demo-nodes-cpp ros-jazzy-teleop-twist-keyboard ros-jazzy-gpsd-client libgdal-dev ros-jazzy-teleop-twist-joy ros-jazzy-twist-mux ros-jazzy-gpsd-client \
-       ros-jazzy-slam-toolbox ros-jazzy-navigation2 ros-jazzy-nav2-bringup ros-jazzy-rplidar-ros ros-jazzy-rosbridge-suite
+       ros-jazzy-slam-toolbox ros-jazzy-navigation2 ros-jazzy-nav2-bringup ros-jazzy-rplidar-ros ros-jazzy-rosbridge-suite python3-smbus2

diff --git a/docker/build.sh b/docker/build.sh
index acef09123865a5d4e00841c46b3e4db4eba9f515..15e7b566ddf25635736cabb2e2f2afe4dfc8c2a3 100755 (executable)
--- a/docker/build.sh
+++ b/docker/build.sh
@@ -5,3 +5,4 @@ docker pull ros:jazzy-ros-base
 docker build -t ros2 .
 
 docker image prune
+docker builder prune

diff --git a/launch/a4wd3_launch.py b/launch/a4wd3_launch.py
index ae7c96f23cdcea138251efb29b7d26a7d802a7e2..49dcb69da4bad610ae5b59d72633de804c45ab62 100644 (file)
--- a/launch/a4wd3_launch.py
+++ b/launch/a4wd3_launch.py
@@ -142,4 +142,11 @@ def generate_launch_description():
        IncludeLaunchDescription(
            XMLLaunchDescriptionSource([os.path.join(get_package_share_directory('rosbridge_server'), 'launch'),'/rosbridge_websocket_launch.xml'])
        ),
+        Node(
+            package='bme680_driver',
+            executable='bme680_driver',
+            name='bme680',
+           parameters=[{"i2c_bus": 7}],
+           output="screen",
+        ),
     ])