2023-07-24 10:28:21 +00:00
|
|
|
version: "3.9"
|
|
|
|
|
services:
|
|
|
|
|
# Base image containing dependencies.
|
|
|
|
|
base:
|
|
|
|
|
image: bot_mini:base
|
|
|
|
|
build:
|
|
|
|
|
context: .
|
|
|
|
|
dockerfile: docker/Dockerfile
|
|
|
|
|
args:
|
|
|
|
|
ROS_DISTRO: humble
|
|
|
|
|
target: base
|
|
|
|
|
# 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
|
2023-07-25 10:09:50 +00:00
|
|
|
|
2023-07-24 10:28:21 +00:00
|
|
|
# Overlay image containing the example source code.
|
|
|
|
|
overlay:
|
|
|
|
|
extends: base
|
|
|
|
|
image: bot_mini:overlay
|
|
|
|
|
build:
|
|
|
|
|
context: .
|
|
|
|
|
dockerfile: docker/Dockerfile
|
|
|
|
|
target: overlay
|
2023-07-25 10:09:50 +00:00
|
|
|
|
2023-07-24 10:28:21 +00:00
|
|
|
# Controller and teleop
|
|
|
|
|
controller:
|
|
|
|
|
extends: overlay
|
2023-07-25 08:59:21 +00:00
|
|
|
command: >
|
2023-07-25 09:29:56 +00:00
|
|
|
/controller_startup.sh
|
|
|
|
|
devices:
|
|
|
|
|
- /dev/ttyUSB0:/dev/ttyUSB0
|
|
|
|
|
- /dev/ttyACM0:/dev/ttyACM0
|
|
|
|
|
- /dev/input/js0:/dev/input/js0
|
|
|
|
|
# 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
|
|
|
|
|
|
2023-07-25 10:12:15 +00:00
|
|
|
# Localization
|
|
|
|
|
localization:
|
|
|
|
|
extends: overlay
|
|
|
|
|
command: >
|
|
|
|
|
/localization_startup.sh
|
|
|
|
|
devices:
|
|
|
|
|
- /dev/ttyUSB0:/dev/ttyUSB0
|
2023-07-25 11:36:17 +00:00
|
|
|
- /dev/ttyUSB1:/dev/ttyUSB1
|
2023-07-25 10:12:15 +00:00
|
|
|
- /dev/ttyACM0:/dev/ttyACM0
|
|
|
|
|
- /dev/input/js0:/dev/input/js0
|
|
|
|
|
# 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
|
2023-07-25 10:10:23 +00:00
|
|
|
|
2023-07-25 10:12:48 +00:00
|
|
|
# mapping
|
|
|
|
|
mapping:
|
|
|
|
|
extends: overlay
|
|
|
|
|
command: >
|
|
|
|
|
ros2 launch bot_mini_bringup robot_mapper.launch.py
|
|
|
|
|
# Interactive shell
|
|
|
|
|
stdin_open: true
|
|
|
|
|
tty: true
|
|
|
|
|
# Networking and IPC for ROS 2
|
|
|
|
|
network_mode: host
|
|
|
|
|
ipc: host
|
2023-07-25 09:59:39 +00:00
|
|
|
|
2023-07-25 10:13:24 +00:00
|
|
|
# navigation
|
|
|
|
|
navigation:
|
|
|
|
|
extends: overlay
|
|
|
|
|
command: >
|
|
|
|
|
ros2 launch bot_mini_bringup robot_navigation.launch.py
|
|
|
|
|
map_subscribe_transient_local:=true
|
|
|
|
|
stdin_open: true
|
|
|
|
|
tty: true
|
|
|
|
|
# Networking and IPC for ROS 2
|
|
|
|
|
network_mode: host
|
|
|
|
|
ipc: host
|
2023-07-25 10:09:50 +00:00
|
|
|
|
|
|
|
|
# # Behavior demo using Python and py_trees
|
|
|
|
|
# demo-behavior-py:
|
|
|
|
|
# extends: overlay
|
|
|
|
|
# command: >
|
|
|
|
|
# ros2 launch tb3_autonomy tb3_demo_behavior_py.launch.py
|
|
|
|
|
# tree_type:=${BT_TYPE:?}
|
|
|
|
|
# enable_vision:=${ENABLE_VISION:?}
|
|
|
|
|
# target_color:=${TARGET_COLOR:?}
|
|
|
|
|
|
|
|
|
|
# # Behavior demo using C++ and BehaviorTree.CPP
|
|
|
|
|
# demo-behavior-cpp:
|
|
|
|
|
# extends: overlay
|
|
|
|
|
# command: >
|
|
|
|
|
# ros2 launch tb3_autonomy tb3_demo_behavior_cpp.launch.py
|
|
|
|
|
# tree_type:=${BT_TYPE:?}
|
|
|
|
|
# enable_vision:=${ENABLE_VISION:?}
|
|
|
|
|
# target_color:=${TARGET_COLOR:?}
|
