docker-compose-dt.yml

version: '3'    

services:
  picarx-dt:
    build: .
    image: picarx/core:latest
    environment:
      - ROS_HOSTNAME=picarx-dt
    tty: true
    ports:
      - 11313:11313
    command: roscore -p 11313
    networks:
      - picarx

  mosquitto:
    container_name: mqtt-server
    image: eclipse-mosquitto
    ports:
      - 1883:1883
    volumes:
      - ./core/dtp/config:/root/catkin_ws/mosquitto
    command: mosquitto -c /root/catkin_ws/mosquitto/mosquitto.conf -p 1883
    networks:
      - picarx

  shadow-dt:
    image: picarx/core:latest
    env_file:
      - ./core/dtp/env/picarx-dt.env
    tty: true
    command: /bin/bash -c "/root/catkin_ws/docker/wfi/wait-for-it-master/wait-for-it.sh $${ROS_MASTER_URI} -- roslaunch arches_core digitalshadow_dt.launch"
    networks:
      - picarx

  mqtt-dt:
    image: git.geomar.de:11411/open-source/arches/arches_mqtt_bridge:latest
    env_file:
      - ./core/dtp/env/picarx-dt.env
    tty: true
    command: /bin/bash -c "/root/catkin_ws/docker/wfi/wait-for-it-master/wait-for-it.sh $${ROS_MASTER_URI} -- roslaunch arches_mqtt_bridge dt_client.launch host:=mqtt-server"
    networks:
      - picarx

  ackermann_skill-dt:
    build: ./ros/skills/ackermann_drive
    image: picarx/skills/ackermann_drive:latest
    env_file:
      - ./core/dtp/env/picarx-dt.env
    tty: true
    privileged: true
    volumes:
      - /sys/class/gpio:/sys/class/gpio
      - /dev/i2c-0:/dev/i2c-0
      - ./core:/root/catkin_ws/src/core
      - ./ros/skills/ackermann_drive:/root/catkin_ws/src/skills/ackermann_drive
    command: /bin/bash -c "/root/catkin_ws/docker/wfi/wait-for-it-master/wait-for-it.sh $${ROS_MASTER_URI} -- 
      roslaunch picarx_ackermann_drive ackermann_skill.launch"
    networks:
      - picarx

networks:
  picarx:
    external: true