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docker-compose-dtsim.yml
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docker-compose-dtsim.yml
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version: '3'
services:
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
picarx:
build: .
image: picarx/core:latest
environment:
- ROS_HOSTNAME=picarx
tty: true
ports:
- 11311:11311
command: roscore
networks:
- picarx
picarx-gazebo:
build:
context: .
dockerfile: ./simulation/Dockerfile
image: picarx/picarx-gazebo:latest
env_file:
- ./core/dtp/env/simulation.env
environment:
- DISPLAY=host.docker.internal:0.0
- LIBGL_ALWAYS_INDIRECT=0
- ROS_HOSTNAME=picarx-gazebo
tty: true
ports:
- 11312:11312
volumes:
- ./core:/root/catkin_ws/src/core
- ./simulation:/root/catkin_ws/src/simulation
command: /bin/bash -c "roslaunch picarx_gazebo picarx-world.launch & /root/catkin_ws/docker/wfi/wait-for-it-master/wait-for-it.sh $${ROS_MASTER_URI} -- roslaunch picarx_control picarx_control.launch"
networks:
- picarx
shadow-dtp:
image: picarx/core:latest
env_file:
- ./core/dtp/env/picarx.env
tty: true
command: /bin/bash -c "/root/catkin_ws/docker/wfi/wait-for-it-master/wait-for-it.sh $${ROS_MASTER_URI} -- roslaunch arches_core digitalshadow_dt.launch"
networks:
- picarx
mqtt-dtp:
image: git.geomar.de:11411/open-source/arches/arches_mqtt_bridge:latest
env_file:
- ./core/dtp/env/picarx.env
tty: true
command: /bin/bash -c "/root/catkin_ws/docker/wfi/wait-for-it-master/wait-for-it.sh $${ROS_MASTER_URI} -- roslaunch arches_mqtt_bridge dt_client.launch host:=mqtt-server"
networks:
- picarx
motor_left-dtp:
build: ./ros/drivers/dcmotor
image: picarx/drivers/dcmotor:latest
env_file:
- ./core/dtp/env/picarx.env
tty: true
privileged: true
volumes:
- /sys/class/gpio:/sys/class/gpio
- /dev/i2c-0:/dev/i2c-0
- ./core:/root/catkin_ws/src/core
- ./ros/drivers/dcmotor:/root/catkin_ws/src/drivers/dcmotor
command: /bin/bash -c "/root/catkin_ws/docker/wfi/wait-for-it-master/wait-for-it.sh $${ROS_MASTER_URI} --
roslaunch picarx_dcmotor_driver dcmotor_left.launch"
depends_on:
- picarx
networks:
- picarx
motor_right-dtp:
image: picarx/drivers/dcmotor:latest
tty: true
env_file:
- ./core/dtp/env/picarx.env
privileged: true
volumes:
- /sys/class/gpio:/sys/class/gpio
- /dev/i2c-0:/dev/i2c-0
- ./core:/root/catkin_ws/src/core
- ./ros/drivers/dcmotor:/root/catkin_ws/src/drivers/dcmotor
command: /bin/bash -c "/root/catkin_ws/docker/wfi/wait-for-it-master/wait-for-it.sh $${ROS_MASTER_URI} --
roslaunch picarx_dcmotor_driver dcmotor_right.launch"
depends_on:
- picarx
networks:
- picarx
steering-dtp:
build: ./ros/drivers/clutchgear
image: picarx/drivers/clutchgear:latest
env_file:
- ./core/dtp/env/picarx.env
tty: true
privileged: true
volumes:
- /sys/class/gpio:/sys/class/gpio
- /dev/i2c-0:/dev/i2c-0
- ./core:/root/catkin_ws/src/core
- ./ros/drivers/clutchgear:/root/catkin_ws/src/drivers/clutchgear
command: /bin/bash -c "/root/catkin_ws/docker/wfi/wait-for-it-master/wait-for-it.sh $${ROS_MASTER_URI} --
roslaunch picarx_clutchgear_driver ackermann_clutchgear_driver.launch"
depends_on:
- picarx
networks:
- picarx
ackermann_skill-dtp:
build: ./ros/skills/ackermann_drive
image: picarx/skills/ackermann_drive:latest
env_file:
- ./core/dtp/env/picarx.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 $${ROS_MASTER_URI} --
roslaunch picarx_ackermann_drive ackermann_skill.launch"
depends_on:
- picarx
networks:
- picarx
motor_emulator_left-dtp:
build: ./ros/emulators/dcmotor
image: picarx/emulators/dcmotor:latest
env_file:
- ./core/dtp/env/simulation.env
tty: true
privileged: true
volumes:
- /sys/class/gpio:/sys/class/gpio
- /dev/i2c-0:/dev/i2c-0
- ./core:/root/catkin_ws/src/core
- ./ros/emulators/dcmotor:/root/catkin_ws/src/emulators/dcmotor
command: /bin/bash -c "/root/catkin_ws/docker/wfi/wait-for-it-master/wait-for-it.sh $${ROS_MASTER_URI} --
roslaunch picarx_dcmotor_emulator dcmotor_emulator_left.launch"
depends_on:
- picarx
networks:
- picarx
motor_emulator_right-dtp:
image: picarx/emulators/dcmotor:latest
env_file:
- ./core/dtp/env/simulation.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/emulators/dcmotor:/root/catkin_ws/src/emulators/dcmotor
command: /bin/bash -c "/root/catkin_ws/docker/wfi/wait-for-it-master/wait-for-it.sh $${ROS_MASTER_URI} --
roslaunch picarx_dcmotor_emulator dcmotor_emulator_right.launch"
depends_on:
- picarx
networks:
- picarx
steering_emulator-dtp:
build: ./ros/emulators/clutchgear
image: picarx/emulators/clutchgear:latest
env_file:
- ./core/dtp/env/simulation.env
tty: true
privileged: true
volumes:
- /sys/class/gpio:/sys/class/gpio
- /dev/i2c-0:/dev/i2c-0
- ./core:/root/catkin_ws/src/core
- ./ros/emulators/clutchgear:/root/catkin_ws/src/emulators/clutchgear
command: /bin/bash -c "/root/catkin_ws/docker/wfi/wait-for-it-master/wait-for-it.sh $${ROS_MASTER_URI} --
roslaunch picarx_clutchgear_emulator ackermann_clutchgear_emulator.launch"
depends_on:
- picarx
networks:
- picarx
networks:
picarx:
external: true