From 5941ea51f963e5aad77c8dd5bbb96c4f4c0359d1 Mon Sep 17 00:00:00 2001
From: pawelirh <pawel.irzyk@husarion.com>
Date: Tue, 16 Jul 2024 16:39:07 +0200
Subject: [PATCH] Add control groups and prune adc symlink

---
 demo/compose.minimal-setup.yaml | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/demo/compose.minimal-setup.yaml b/demo/compose.minimal-setup.yaml
index fe912ab..d9a68d0 100644
--- a/demo/compose.minimal-setup.yaml
+++ b/demo/compose.minimal-setup.yaml
@@ -16,12 +16,15 @@ services:
       - /dev/gpiochip0
       - /dev/spiled-channel1
       - /dev/spiled-channel2
+    device_cgroup_rules:
+      - 'c 189:* rmw' # USB devices
+      - 'c 254:0* rw' # gpiochip0
+      - 'c 153:* rmw' # spiled-channel1, spiled-channel2
     volumes:
-      - /dev/adc0:/dev/adc0
-      - /dev/adc1:/dev/adc1
-      - ~/.ssh/id_rsa:/root/.ssh/id_rsa
       - /run/husarion/panther_config.env:/run/husarion/panther_config.env
       - /run/husarion/panther_config.yaml:/run/husarion/panther_config.yaml
+      - /sys/bus/iio/devices:/sys/bus/iio/devices
+      - ~/.ssh/id_rsa:/root/.ssh/id_rsa
     # Realtime hardware (https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html#determinism)
     ulimits:
       rtprio: