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docker-compose_full.yml
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version: '3.8'
services:
autonav:
image: jatinvpatil/autonav:latest
command: >
ros2 launch autonav_bringup autonav_bringup.launch.py
# command: bash -c "source /colcon_ws/install/setup.bash && colcon build --symlink-install && source /colcon_ws/install/setup.bash && ros2 launch autonav_firmware autonav_bringup.launch.py"
network_mode: "host"
devices:
- "/dev/bno055:/dev/bno055"
- "/dev/lidar:/dev/lidar_x4"
volumes:
- "~/AutoNav:/colcon_ws/src"
restart: unless-stopped
micro_ros:
image: microros/micro-ros-agent:humble
command: serial --dev /dev/ttyesp32
privileged: true
network_mode: host
volumes:
- /dev/esp32:/dev/ttyesp32
restart: unless-stopped
joystick_controller:
image: jatinvpatil/autonav:joystick
container_name: joystick_controller
command: >
ros2 launch autonav_controller joystick_teleop.launch.py
network_mode: "host"
devices:
- "/dev/input/:/dev/input/"
# - "/dev/lidar:/dev/lidar_x4"
volumes:
- /dev/input/:/dev/input/
navigation:
container_name: navigation
extends: autonav
command: bash -c "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && colcon build --symlink-install --packages-select autonav_navigation && source /colcon_ws/install/setup.bash && ros2 launch autonav_navigation navigation.launch.py"
stdin_open: true
tty: true
network_mode: "host"
ipc: host
privileged: true
slam:
container_name: slam
network_mode: "host"
extends: autonav
command: bash -c "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && source /colcon_ws/install/setup.bash && ros2 launch autonav_navigation slam.launch.py"
cartographer:
container_name: cartographer
network_mode: "host"
extends: autonav
command: bash -c "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && source /colcon_ws/install/setup.bash && ros2 launch autonav_navigation cartographer.launch.py"
save_map:
container_name: save_map
extends: autonav
command: bash -c "source /colcon_ws/install/setup.bash && ros2 launch autonav_navigation save_map.launch.py"
stdin_open: true
tty: true
network_mode: "host"
ipc: host
privileged: true
rviz:
container_name: rviz
network_mode: "host"
image: jatinvpatil/autonav:latest
command: bash -c "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && source /colcon_ws/install/setup.bash && ros2 launch autonav_bringup view_rviz.launch.py rviz:=True"
ipc: host
privileged: true
environment:
- DISPLAY=${DISPLAY}
- QT_X11_NO_MITSHM=1
volumes:
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- $HOME/.Xauthority:/root/.Xauthority
control:
container_name: control
network_mode: "host"
image: jatinvpatil/autonav:latest
command: bash -c "source /colcon_ws/install/setup.bash && ros2 run autonav_controller control.py"
stdin_open: true
tty: true
volumes:
- "~/AutoNav:/colcon_ws/src"
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- $HOME/.Xauthority:/root/.Xauthority
environment:
- DISPLAY=${DISPLAY}
- QT_X11_NO_MITSHM=1
ipc: host
privileged: true
camera:
image: jatinvpatil/autonav:latest
command: bash -c "source /colcon_ws/install/setup.bash && ros2 run autonav_perception camera_publish.py"
network_mode: "host"
ipc: host
privileged: true
devices:
- "/dev/media0:/dev/media0"
- "/dev/media1:/dev/media1"
- "/dev/media2:/dev/media2"
- "/dev/media3:/dev/media3"
- "/dev/video1:/dev/video1"
- "/dev/video0:/dev/video0"
volumes:
- "~/AutoNav:/colcon_ws/src"
camera_view:
container_name: camera_view
network_mode: "host"
image: jatinvpatil/autonav:latest
command: bash -c "source /colcon_ws/install/setup.bash && ros2 run autonav_perception camera_subscribe.py"
volumes:
- "~/AutoNav:/colcon_ws/src"
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- $HOME/.Xauthority:/root/.Xauthority
environment:
- DISPLAY=${DISPLAY}
- QT_X11_NO_MITSHM=1
ipc: host
privileged: true
rviz_slam:
container_name: rviz_slam
network_mode: "host"
extends: rviz
command: bash -c "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && source /colcon_ws/install/setup.bash && ros2 launch autonav_bringup view_rviz_slam.launch.py rviz:=True"
rviz_navigation:
container_name: rviz_navigation
network_mode: "host"
extends: rviz
command: bash -c "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && source /colcon_ws/install/setup.bash && ros2 launch autonav_bringup view_rviz_navigation.launch.py rviz:=True"
rviz_cartographer:
container_name: rviz_cartographer
network_mode: "host"
extends: rviz
command: bash -c "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && source /colcon_ws/install/setup.bash && ros2 launch autonav_bringup view_rviz_cartographer.launch.py rviz:=True"