mirror of
https://github.com/bjoernellens1/cps_loki.git
synced 2024-11-22 23:33:50 +00:00
295 lines
8.7 KiB
YAML
295 lines
8.7 KiB
YAML
version: "3.9"
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services:
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# Base image containing dependencies.
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base:
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image: ghcr.io/bjoernellens1/cps_bot_mini_ws/base
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build:
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context: .
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dockerfile: docker/Dockerfile
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tags:
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- ghcr.io/bjoernellens1/cps_bot_mini_ws/base
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args:
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ROS_DISTRO: humble
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UNDERLAY_WS: cps_bot_mini_ws
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OVERLAY_WS: overlay_ws
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target: base
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x-bake:
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platforms:
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- linux/arm64
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- linux/amd64
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# Interactive shell
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stdin_open: true
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tty: true
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# Networking and IPC for ROS 2
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network_mode: host
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ipc: host
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# Needed to display graphical applications
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#privileged: true
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environment:
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# Allows graphical programs in the container.
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- DISPLAY=${DISPLAY}
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- QT_X11_NO_MITSHM=1
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- NVIDIA_DRIVER_CAPABILITIES=all
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- ROS_DOMAIN_ID=5
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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volumes:
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# Allows graphical programs in the container.
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- /tmp/.X11-unix:/tmp/.X11-unix:rw
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- ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
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# Overlay image containing the project specific source code.
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overlay:
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extends: base
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image: ghcr.io/bjoernellens1/cps_bot_mini_ws/overlay
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build:
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context: .
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dockerfile: docker/Dockerfile
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tags:
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- ghcr.io/bjoernellens1/cps_bot_mini_ws/overlay
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target: overlay
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x-bake:
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platforms:
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- linux/arm64
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- linux/amd64
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volumes:
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- .:/repo
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# Additional dependencies for GUI applications
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guis:
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extends: overlay
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image: ghcr.io/bjoernellens1/cps_bot_mini_ws/guis
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build:
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context: .
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dockerfile: docker/Dockerfile
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tags:
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- ghcr.io/bjoernellens1/cps_bot_mini_ws/guis
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target: guis
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x-bake:
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platforms:
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- linux/arm64
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- linux/amd64
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command: |
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/bin/bash
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# Robot State Publisher
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robot_state_publisher:
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extends: overlay
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command: |
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ros2 launch cps_loki_bringup rsp.launch.py
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# Controller
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controller:
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extends: overlay
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command: |
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ros2 launch cps_loki_bringup robot_controller.launch.py
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privileged: true
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devices:
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- /dev/ttyUSB0:/dev/ttyUSB0
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- /dev/ttyACM0:/dev/ttyACM0
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restart: unless-stopped
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# teleop
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teleop:
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extends: overlay
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command: |
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ros2 launch cps_loki_bringup robot_joy_teleop.launch.py
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devices:
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- /dev/input:/dev/input
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restart: unless-stopped
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# scan filter node
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lidar_filter:
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extends: overlay
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command: |
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ros2 launch cps_loki_bringup robot_scan_filter.launch.py
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# lidar
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lidar:
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extends: overlay
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depends_on:
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- lidar_filter
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command: |
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ros2 launch cps_loki_bringup robot_lidar.launch.py
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devices:
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- /dev/ttyUSB0:/dev/ttyUSB0
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- /dev/ttyACM0:/dev/ttyACM0
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# mapping
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mapping:
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extends: overlay
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command: |
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ros2 launch cps_loki_bringup robot_mapper.launch.py
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# navigation
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navigation:
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extends: overlay
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#command: >
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# ros2 launch cbot_mini_bringup robot_navigation.launch.py
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# map_subscribe_transient_local:=true
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command: >
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ros2 launch nav2_bringup bringup_launch.py slam:=True map:=/repo/map.yaml
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use_sim_time:=False use_composition:=True
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params_file:=/repo/config/nav2_params.yaml
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depends_on:
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- lidar
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- controller
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- teleop
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# camera
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cam:
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extends: overlay
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command: >
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ros2 launch ffmpeg_image_transport cam.launch.py
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privileged: true
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devices:
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- /dev/dri:/dev/dri
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###################################################################################################################################
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# Webgui Supervision via Foxglove Studio #
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###################################################################################################################################
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# config:
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# container_name: olivetin
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# image: ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
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# build:
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# context: .
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# dockerfile: docker/Dockerfile
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# tags:
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# - ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
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# target: olivetin
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# x-bake:
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# platforms:
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# #- linux/arm64
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# - linux/amd64
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# #user: root
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# privileged: true
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# volumes:
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# - ./config/olivetin.yaml:/config/config.yaml # replace host path or volume as needed
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# # - .:/repo
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# - /var/run/docker.sock:/var/run/docker.sock
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# # - /var/lib/docker:/var/lib/docker
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# ports:
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# - "80:1337"
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# restart: unless-stopped
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olivetin:
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container_name: olivetin
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image: jamesread/olivetin
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#image: ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
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build:
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context: .
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dockerfile: docker/Dockerfile
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tags:
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- ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
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target: olivetin
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x-bake:
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platforms:
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#- linux/arm64
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- linux/amd64
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user: root
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privileged: true
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volumes:
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- ./config/olivetin/:/config/ # here is config.yaml and icons located
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- ./config/olivetin/icons:/var/www/olivetin/customIcons
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- .:/repo
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- /var/run/docker.sock:/var/run/docker.sock
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# - /var/lib/docker:/var/lib/docker
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- ~/.ssh/id_rsa:/root/.ssh/id_rsa
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ports:
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- "80:1337"
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restart: unless-stopped
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portainer:
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container_name: portainer
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#image: jamesread/olivetin
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image: portainer/portainer-ce:latest
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volumes:
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- ./config/olivetin/:/config/ # here is config.yaml and icons located
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- ./config/olivetin/icons:/var/www/olivetin/customIcons
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- .:/repo
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- /var/run/docker.sock:/var/run/docker.sock
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- portainer_data:/data
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# - /var/lib/docker:/var/lib/docker
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- ~/.ssh/id_rsa:/root/.ssh/id_rsa
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ports:
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- "8000:8000"
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- "9443:9443"
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restart: unless-stopped
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################################################################################################################################
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# This section is mostly for supervision from PC #
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################################################################################################################################
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# foxglove-bridge:
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# image: husarion/foxglove-bridge:humble
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# # Interactive shell
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# stdin_open: true
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# tty: true
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# # Networking and IPC for ROS 2
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# network_mode: host
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# ipc: host
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# # Needed to display graphical applications
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# #privileged: true
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# environment:
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# # Allows graphical programs in the container.
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# - DISPLAY=${DISPLAY}
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# - QT_X11_NO_MITSHM=1
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# - NVIDIA_DRIVER_CAPABILITIES=all
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# - ROS_DOMAIN_ID=5
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# - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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# Foxglove Studio Bridge
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foxglove_bridge:
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extends: overlay
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command: >
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ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
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stdin_open: true
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tty: true
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# Networking and IPC for ROS 2
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#network_mode: host
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ipc: host
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environment:
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- ROS_DOMAIN_ID=5
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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foxglove:
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#image: husarion/foxglove
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image: ghcr.io/foxglove/studio:latest
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depends_on:
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- foxglove_bridge
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ports:
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- 8080:8080
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volumes:
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- ./config/foxglove/extensions:/src/extensions
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- ./config/foxglove/foxglove-layout.json:/foxglove/default-layout.json
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# rviz2
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rviz2:
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extends: guis
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command: |
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rviz2
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# Needed to display graphical applications
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privileged: true
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################################################################################################################################
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# Core Services for Web Management #
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################################################################################################################################
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npm: # nginx proxy manager for reverse proxying the webservices
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#user "bjoern.ellensohn@unileoben.ac.at"
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#password "cpsloki_npm"
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image: 'jc21/nginx-proxy-manager:latest'
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restart: always #unless-stopped
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ports:
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- '80:80'
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- '81:81'
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- '443:443'
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volumes:
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- ./config/npm:/data
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- ./letsencrypt:/etc/letsencrypt
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management:
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depends_on:
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- npm
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- foxglove
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- olivetin
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################################################################################################################################
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# Docker related extra stuff #
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################################################################################################################################
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networks: {}
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volumes:
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portainer_data: |