add image streaming demo script and motor failure ratio control for lc_62

Author: MDEAGEWT

docker/Dockerfile

@@ -199,8 +199,8 @@ RUN mkdir realgazebo
 WORKDIR /home/user/realgazebo
 
 #ARG CACHEBUST=1
-RUN git clone --branch v1.16.0-1.1.0 https://github.com/SUV-Lab/RealGazebo-PX4.git --recursive \
-    && git clone --branch v1.1 https://github.com/SUV-Lab/RealGazebo-ROS2.git --recursive
+RUN git clone --branch v1.16.0-1.2.0 https://github.com/SUV-Lab/RealGazebo-PX4.git --recursive \
+    && git clone --branch v1.2 https://github.com/SUV-Lab/RealGazebo-ROS2.git --recursive
 
 RUN cd /home/user/realgazebo/RealGazebo-PX4 && ./Tools/setup/ubuntu.sh --no-nuttx
 

scripts/edit_realgazebo.sh

@@ -46,5 +46,5 @@ docker run ${GPU_OPTION} ${GPU_RUNTIME} -it --privileged \
     -v /dev:/dev:rw \
     --hostname $(hostname) \
     --network host \
-    --name "$container_name" aware4docker/realgazebo:1.1 bash
+    --name "$container_name" aware4docker/realgazebo:1.2 bash
 

scripts/run_image_stream.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+# Demo script for image streaming viewer
+# Usage: ./run_image_stream.sh [vehicle_num] [vehicle_type] [camera_type]
+#   vehicle_num  : vehicle index (default: 0)
+#   vehicle_type : x500 | lc_62 (default: x500)
+#   camera_type  : front | down | ... (default: front)
+
+VEHICLE_NUM=${1:-0}
+VEHICLE_TYPE=${2:-x500}
+CAMERA_TYPE=${3:-front}
+
+docker exec -it -u user realgazebo bash -c \
+  "source /opt/ros/jazzy/setup.bash && \
+   source /home/user/realgazebo/RealGazebo-ROS2/install/setup.bash && \
+   ros2 run image_viewer image_viewer \
+     --ros-args \
+     -p vehicle_num:=${VEHICLE_NUM} \
+     -p vehicle_type:=${VEHICLE_TYPE} \
+     -p camera_type:=${CAMERA_TYPE}"

scripts/run_realgazebo.sh

@@ -133,7 +133,7 @@ docker run ${GPU_OPTION} ${GPU_RUNTIME} -d -it --privileged \
     -v /dev:/dev:rw \
     --hostname $(hostname) \
     --network host \
-    --name "$container_name" aware4docker/realgazebo:1.1
+    --name "$container_name" aware4docker/realgazebo:1.2
 
 docker cp "$CONFIG_FILE" "$container_name":/home/user/