Add dependencies.

Dockerfile

@@ -13,6 +13,10 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-ros2-control \
     ros-${ROS_DISTRO}-demo-nodes-cpp \
     ros-${ROS_DISTRO}-demo-nodes-py \
+    ros-${ROS_DISTRO}-dynamixel-workbench-toolbox \
+    ros-${ROS_DISTRO}-robot-state-publisher \
+    ros-${ROS_DISTRO}-xacro \
+    ros-${ROS_DISTRO}-ros2-controllers \
     && rm -rf /var/lib/apt/lists/*
 
 COPY ros_entrypoint.sh .

helix_bringup/config/params.yaml

@@ -0,0 +1,3 @@
+dynamixel_joint_state_publisher:
+  ros__parameters:
+    use_local_topics: True

ros_entrypoint.sh

@@ -4,6 +4,5 @@ set -e
 id -u ros &>/dev/null || adduser --quiet --disabled-password --gecos '' --uid ${UID:=1000} --uid ${GID:=1000} ros
 
 source /opt/ros/${ROS_DISTRO}/setup.bash
-source /colcon_ws/install/setup.bash
 
 exec "$@"

run.sh

@@ -10,4 +10,6 @@ docker run -it --rm \
 --env GID=$(id -g) \
 --privileged \
 --volume ./helix_bringup:/colcon_ws/src/helix_bringup \
+--volume ./helix_description:/colcon_ws/src/helix_description \
+--volume ./dynamixel_hardware:/colcon_ws/src/dynamixel_hardware \
 ghcr.io/helix-robotics-ag/${REPOSITORY_NAME}:iron