2023-07-24 10:28:21 +00:00
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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: bot_mini:base
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build:
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context: .
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dockerfile: docker/Dockerfile
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args:
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ROS_DISTRO: humble
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target: base
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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 example source code.
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overlay:
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extends: base
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image: bot_mini:overlay
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build:
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context: .
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dockerfile: docker/Dockerfile
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target: overlay
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# Controller and teleop
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controller:
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extends: overlay
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2023-07-25 09:01:44 +00:00
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entrypoint: ["/bin/sh","-c"]
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2023-07-25 08:59:21 +00:00
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command: >
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2023-07-25 09:03:17 +00:00
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&& source install/setup.bash
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&&
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2023-07-25 08:59:21 +00:00
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ros2 launch bot_mini_bringup robot_controller.launch.py
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priority:=80 cpu-affinity:=4 lock-memory-size:=100 config-child-threads:=True
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&& ros2 launch bot_mini_bringup robot_twist_mux.launch.py
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&& ros2 launch bot_mini_bringup robot_joy_teleop.launch.py
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2023-07-25 07:20:52 +00:00
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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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- /dev/input/js0:/dev/input/js0
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2023-07-25 07:41:16 +00:00
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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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2023-07-24 10:28:21 +00:00
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# # Behavior demo using Python and py_trees
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# demo-behavior-py:
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# extends: overlay
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# command: >
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# ros2 launch tb3_autonomy tb3_demo_behavior_py.launch.py
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# tree_type:=${BT_TYPE:?}
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# enable_vision:=${ENABLE_VISION:?}
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# target_color:=${TARGET_COLOR:?}
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# # Behavior demo using C++ and BehaviorTree.CPP
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# demo-behavior-cpp:
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# extends: overlay
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# command: >
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# ros2 launch tb3_autonomy tb3_demo_behavior_cpp.launch.py
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# tree_type:=${BT_TYPE:?}
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# enable_vision:=${ENABLE_VISION:?}
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# target_color:=${TARGET_COLOR:?}
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