From: Erik Andresen <erik@vontaene.de>
Date: Fri, 15 May 2026 16:34:02 +0000 (+0200)
Subject: Add BME680 driver
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=88f90fa117ab19eb459fc9e6d4b360850aac5e59;p=a4wd3.git

Add BME680 driver

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

diff --git a/docker/Dockerfile b/docker/Dockerfile
index 466b63a..23d7a49 100644
--- 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 acef091..15e7b56 100755
--- 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 ae7c96f..49dcb69 100644
--- 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",
+        ),
     ])