From 53645580a96235a2417e1bfb4108f48856b4bd4b Mon Sep 17 00:00:00 2001
From: Philipp Caspers <117186241+philipp-caspers@users.noreply.github.com>
Date: Thu, 17 Oct 2024 15:24:02 +0200
Subject: [PATCH 1/3] feat: Set network=host in the compose file

We assume that the typical user will either have ROS installed on the
host or uses multiple containers connected via the hosts network.
---
 compose.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/compose.yaml b/compose.yaml
index 1c567f2..01af6a8 100644
--- a/compose.yaml
+++ b/compose.yaml
@@ -2,6 +2,7 @@ services:
     voraus_ros_bridge:
         image: ghcr.io/vorausrobotik/voraus-ros-bridge:main
         command: ros2 launch voraus-ros-bridge voraus-ros-bridge.launch.py
+        network_mode: host
         environment:
             - AMENT_PREFIX_PATH=/root/voraus-ros-bridge/install/voraus-ros-bridge:/opt/ros/humble
             - ROS_NAMESPACE=robot1

From 803fbf9ccd922377bcf5927c4a5afe9d2e0e08ef Mon Sep 17 00:00:00 2001
From: Philipp Caspers <117186241+philipp-caspers@users.noreply.github.com>
Date: Thu, 17 Oct 2024 15:26:02 +0200
Subject: [PATCH 2/3] feat: Add voraus core endpoint env var to compose file

This should act as a living documentation.
---
 compose.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/compose.yaml b/compose.yaml
index 01af6a8..41b849a 100644
--- a/compose.yaml
+++ b/compose.yaml
@@ -6,3 +6,4 @@ services:
         environment:
             - AMENT_PREFIX_PATH=/root/voraus-ros-bridge/install/voraus-ros-bridge:/opt/ros/humble
             - ROS_NAMESPACE=robot1
+            - VORAUS_CORE_OPC_UA_ENDPOINT=opc.tcp://127.0.0.1:48401

From 040ecff86c3b3aea58a4553f270c13203e27f618 Mon Sep 17 00:00:00 2001
From: Philipp Caspers <117186241+philipp-caspers@users.noreply.github.com>
Date: Fri, 18 Oct 2024 09:40:27 +0200
Subject: [PATCH 3/3] fix: Stop the container via SIGINT

This is a workaround for the `special` signal handling of ros2 launch.
To stop a process docker sends a SIGTERM on default.
The ros2 launch wrapper however ignores SIGTERM (only SIGINT is
considered).
Docker then sends a SIGKILL after a timeout.
As a result, the shutdown times of the container are at least as long as the
timeout.
This change makes docker send SIGINT instead of SIGTERM, resulting in
proper fast shutdown.
See https://github.com/ros2/launch/issues/666 for details.
---
 compose.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/compose.yaml b/compose.yaml
index 41b849a..bf384ad 100644
--- a/compose.yaml
+++ b/compose.yaml
@@ -3,6 +3,7 @@ services:
         image: ghcr.io/vorausrobotik/voraus-ros-bridge:main
         command: ros2 launch voraus-ros-bridge voraus-ros-bridge.launch.py
         network_mode: host
+        stop_signal: SIGINT
         environment:
             - AMENT_PREFIX_PATH=/root/voraus-ros-bridge/install/voraus-ros-bridge:/opt/ros/humble
             - ROS_NAMESPACE=robot1