Minor doc. update

amd64-jazzy-full-pico/docker-compose.yml

@@ -8,7 +8,7 @@
 # Prerequisite - On docker host: 
 #      I)  That the ROS2 WorkSpace(folder) '/home/$USER/ws_ros2/'' exist before starting the Image/Containner.
 #      II) That '$ xhost local:docker' is run before container is started - To enable GUI/X11 applications inside container
-#
+#----------------------
 # Commands:
 #   1a) Create/Start Container from Image : 
 #       $ docker compose up --detach --build
@@ -22,12 +22,17 @@
 #       $ docker conpose pause / unpause
 #       $ docker compose stop / start
 #       $ docker compose down    (stop & remove container)
-#
 #----------------------
 # Maintainer: stefan.kull@gmail.com
 # Licens: MIT
 # https://github.com/Pet-Series
+#
+# "noetic" = ROS1
+# "focal"  = Ubuntu 20.04 
 #----------------------
+# More info: https://github.com/Pet-Series/pet_docker
+# More info: https://hub.docker.com/repositories/kullken
+# More info: https://hub.docker.com/repository/docker/kullken/ros1_amd64
 services:
   ros2-microros:
     build: .

amd64-noetic/docker-compose_ROS2talker-ROS1listener.yml

@@ -0,0 +1,41 @@
+# ROS2 test/tutorial - Pull down/Run/Launch two nodes in two separate docker containers.
+# Using the built in ros2 package 'demo_nodes_cpp' with the two nodes 'talker' & 'listener'
+#
+# 1) Launch the nodes
+#    $ docker compose --file docker-compose_ROS2talker-ROS1listener.yml up
+#    ... ✔ Container1: ??? 
+#    ... ✔ Container2: ??? 
+#   
+# 2) ...press <Ctrl><C> to stop
+#
+# 3) Remove the two containers AND the Network "amd64-jazzy_default"
+# More info: 
+#     - https://docs.ros.org/en/jazzy/How-To-Guides/Run-2-nodes-in-single-or-separate-docker-containers.html
+#     - https://hub.docker.com/_/ros
+#
+services: 
+  talker: 
+    image: osrf/ros:noetic-desktop-full 
+    command: roslaunch roscpp_tutorials talker_listener_launch]
+    network_mode: host
+
+  listener: 
+    image: osrf/ros:jazzy-desktop
+    environment: 
+    - "ROS_HOSTNAME=listener" 
+    - "ROS_MASTER_URI=http://ros1:11311" 
+    command: ros2 run ros1_bridge dynamic_bridge 
+    depends_on: 
+      - talker 
+    network_mode: host
+
+  bridge: 
+    image: osrf/ros:jazzy-desktop
+    environment: 
+    - "ROS_HOSTNAME=bridge" 
+    - "ROS_MASTER_URI=http://ros1:11311" 
+    depends_on: 
+      - talker
+      - listener
+    network_mode: host
+    command: ros2 run ros1_bridge dynamic_bridge