From 2fd9a3a7453e6de84e4c684c2de7ebcf6ca6dfe4 Mon Sep 17 00:00:00 2001
From: bjoernellens1 <64093272+bjoernellens1@users.noreply.github.com>
Date: Mon, 20 Nov 2023 11:13:31 +0100
Subject: [PATCH] update

---
 docker-compose.robot | 133 +++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 133 insertions(+)
 create mode 100644 docker-compose.robot

diff --git a/docker-compose.robot b/docker-compose.robot
new file mode 100644
index 0000000..5e4f0fa
--- /dev/null
+++ b/docker-compose.robot
@@ -0,0 +1,133 @@
+version: "3.9"
+
+services:
+  # Base image containing dependencies.
+  base:
+    image: ghcr.io/bjoernellens1/ros2-base:humble
+    build:
+      context: .
+      dockerfile: docker/Dockerfile
+      tags:
+        - ghcr.io/bjoernellens1/ros2-base:humble
+      args:
+        ROS_DISTRO: humble
+        UNDERLAY_WS: cps_bot_mini_ws
+        OVERLAY_WS: overlay_ws
+      target: base
+      x-bake:
+        platforms:
+          - linux/arm64
+          - linux/amd64
+    # Interactive shell
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    # Needed to display graphical applications
+    privileged: true
+    environment:
+      # Allows graphical programs in the container.
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+      - NVIDIA_DRIVER_CAPABILITIES=all
+    volumes:
+      # Allows graphical programs in the container.
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
+
+  # Overlay image containing the project specific source code.
+  overlay:
+    extends: base
+    image: ghcr.io/bjoernellens1/cps_bot_mini_ws/bot:overlay
+    build:
+      context: .
+      dockerfile: docker/Dockerfile
+      tags:
+        - ghcr.io/bjoernellens1/cps_bot_mini_ws/bot:overlay
+      target: overlay
+      x-bake:
+        platforms:
+          - linux/arm64
+          - linux/amd64
+    volumes:
+      - .:/repo
+
+  # # Additional dependencies for GUI applications
+  # guis:
+  #   extends: overlay
+  #   image: ghcr.io/bjoernellens1/cps_bot_mini_ws/bot:guis
+  #   build:
+  #     context: .
+  #     dockerfile: docker/Dockerfile
+  #     tags:
+  #       - ghcr.io/bjoernellens1/cps_bot_mini_ws/bot:guis
+  #     target: guis
+  #     x-bake:
+  #       platforms:
+  #         - linux/arm64
+  #         - linux/amd64
+  #   command: >
+  #     /bin/bash
+
+  # # Robot State Publisher
+  # robot_state_publisher:
+  #   extends: overlay
+  #   command: >
+  #     ros2 launch cps_loki_bringup rsp.launch.py
+
+  # Controller
+  controller:
+    extends: overlay 
+    command: >
+      ros2 launch cps_loki_bringup robot_controller.launch.py
+    devices:
+      - /dev/ttyUSB0:/dev/ttyUSB0
+      - /dev/ttyACM0:/dev/ttyACM0
+    restart: unless-stopped
+    
+  # teleop
+  teleop:
+    extends: overlay 
+    command: >
+      ros2 launch cps_loki_bringup robot_joy_teleop.launch.py
+    devices:
+      - /dev/input:/dev/input
+    restart: unless-stopped
+
+  # lidar
+  lidar:
+    extends: overlay
+    command: >
+      ros2 launch cps_loki_bringup robot_lidar.launch.py
+    devices:
+      - /dev/ttyUSB0:/dev/ttyUSB0
+      #- /dev/ttyUSB1:/dev/ttyUSB1
+      - /dev/ttyACM0:/dev/ttyACM0
+
+  # mapping
+  mapping:
+    extends: overlay
+    command: >
+      ros2 launch cps_loki_bringup robot_mapper.launch.py
+
+  # navigation
+  navigation:
+    extends: overlay
+    #command: >
+    #  ros2 launch cbot_mini_bringup robot_navigation.launch.py
+    #  map_subscribe_transient_local:=true
+    command: >
+      ros2 launch nav2_bringup bringup_launch.py slam:=True map:=/repo/map.yaml use_sim_time:=False use_composition:=True params_file:=/overlay_ws/src/cps_loki_bringup/config/nav2_params.yaml
+    depends_on:
+      - lidar
+      - controller
+      - teleop
+
+  # # rviz2
+  # rviz2:
+  #   extends: guis
+  #   command: >
+  #     rviz2
+  #   # Needed to display graphical applications
+  #   privileged: true