mirror of
https://github.com/bjoernellens1/cps_loki.git
synced 2024-11-22 23:33:50 +00:00
134 lines
3.2 KiB
YAML
134 lines
3.2 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/bot: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/bot: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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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/bot: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/bot: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/bot: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/bot: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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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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# lidar
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lidar:
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extends: overlay
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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/ttyUSB1:/dev/ttyUSB1
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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 use_sim_time:=False use_composition:=True params_file:=/overlay_ws/src/cps_loki_bringup/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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# 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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