ros2_docker_template/docker-compose.yaml

version: "3.9"

services: # in docker compose, service are definitions of your docker containers

  my_example: # for this example I am using a very simple docker build for reference: hello-world
    image: hello-world # hello-world image. No prefix means it defaults the image registry to dockerhub
    build:
      context: .
      dockerfile: docker/my_example.Dockerfile # the Dockerfile speciefies the steps taken in the build process.
      target: hello-world # here you specify the build target in the Dockerfile
      x-bake: # Definitions needed for buildx bake. This enhanced docker build system makes things much easier.
        platforms:
          #- linux/arm64 uncomment if arm64 platform is needed (like jetson nano or raspberry pi)
          - linux/amd64
          
  # Base image containing dependencies for example the robot controller
  base:
    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:base # this will be the output image tag
    build:
      context: .
      dockerfile: docker/Dockerfile # the Dockerfilespeciefies the steps taken in the build process.
      args: # specify build arguments. May use them to alter the build process.
        ROS_DISTRO: humble # For instance you could change to foxy here.
      target: base # here you specify the build target in the Dockerfile
      x-bake:
        platforms:
          #- linux/arm64 uncomment if arm64 platform is needed (like jetson nano or raspberry pi)
          - linux/amd64

    # Interactive shell enable
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2 
    network_mode: host # host networking makes life easier
    ipc: host # --> faster communications between containers
    
    # Needed to display graphical applications
    privileged: true # also needed for hardware access like joystick, cameras...
    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
    devices: # all devices you may need inside the docker container (for instance I needed a joystick here)
      - /dev/input/js0:/dev/input/js0 # mapping in docker is always host_path:container_path

  # Overlay image containing the extended project packages. For instance Mapping, Navigation which may run on a separate PC, so I divided that from the base image.
  overlay:
    extends: base # this means you take the base image as reference and run your service on top of that
    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
    build:
      context: .
      dockerfile: docker/Dockerfile
      tags:
        - ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
      target: overlay
      x-bake:
        platforms:
          #- linux/arm64 uncomment if arm64 platform is needed (like jetson nano or raspberry pi)
          - linux/amd64
    volumes:
      - .:/repo
    command: >
      /bin/bash      

  # Additional dependencies for GUI applications: For my configuration, this last (biggest size) image will house the additional GUI tools like rviz2, gazebo, etc. This comes last as this extends the previous images. Won't be needed running on the robot. More suited for visualization, analysis or control on a separate PC.
  guis:
    extends: overlay
    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
    build:
      context: .
      dockerfile: docker/Dockerfile
      tags:
        - ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
      target: guis
      x-bake:
        platforms:
          #- linux/arm64 uncomment if arm64 platform is needed (like jetson nano or raspberry pi)
          - linux/amd64
    #entrypoint: /bin/bash
    command: >
      /bin/bash      
  
  # The following service definitions do not include build instructions as they do not require additional content in the images. Meaning, if you already have the image locally, everything's fine. If you don't have the image locally, docker compose will download the image from the image registry for you. If docker compose does not have access to the image registry, it will build the corresponding image for you (so better make sur you have access).
# You can see these service definitions as an easy way to spin up separate containers for launching separate tasks. I use this to control the current operational mode of the robot (mapping or navigation an localization). In the end it's just spinning up launch files in separate containers.
# Note that service definitions will always inherit the preferences from their "parent" service. However, you can overwrite them.

  # Robot State Publisher
  rsp:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support rsp.launch.py      
    environment:
    - ROS_DOMAIN_ID=5

  # Controller
  controller:
    extends: base 
    command: >
      ros2 run segwayrmp SmartCar --ros-args -r cmd_vel:=cmd_vel_out -p serial_full_name:=/dev/ttyUSB0      
    devices:
      - /dev/ttyUSB0:/dev/ttyUSB0
    environment:
    - ROS_DOMAIN_ID=5
    restart: unless-stopped

  # teleop
  teleop:
    extends: base 
    command: >
      ros2 launch rmp220_teleop robot_joystick.launch.py       
    devices:
      - /dev/input/js0:/dev/input/js0
    environment:
    - ROS_DOMAIN_ID=5

  # lidar
  lidar:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support robot_lidar.launch.py serial_port:=/dev/ttyUSB0      
    environment:
    - ROS_DOMAIN_ID=5
    devices:
      - /dev/ttyUSB1:/dev/ttyUSB1
      - /dev/ttyUSB0:/dev/ttyUSB0

  # localiaztion by ekf node
  ekf:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support robot_localization.launch.py      
    environment:
    - ROS_DOMAIN_ID=5

  # mapping
  mapping:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support robot_mapping.launch.py      
    environment:
    - ROS_DOMAIN_ID=5

  # slam_localization
  localization:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support robot_mapping_localization.launch.py map_file_name:=/repo/maps/map.yaml      
    environment:
    - ROS_DOMAIN_ID=5

  # amcl_localization
  amcl:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support robot_amcl.launch.py map:=/repo/maps/map.yaml      
    environment:
    - ROS_DOMAIN_ID=5

  # navigation
  navigation:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support robot_navigation.launch.py
      map_subscribe_transient_local:=true      
    environment:
    - ROS_DOMAIN_ID=5
  
  # bash
  bash:
    extends: overlay
    command: >
      /bin/bash      
    environment:
    - ROS_DOMAIN_ID=5

  # rviz2
  rviz2:
    extends: guis
    command: >
      ros2 launch cps_rmp220_support rviz.launch.py      
    environment:
    - ROS_DOMAIN_ID=5