43 lines
1.6 KiB
YAML
43 lines
1.6 KiB
YAML
|
networks:
|
||
|
|
pc: # config for this pc. Only required for running the containers locally on the pc. For instance rviz2 or guis with gazebo.
|
||
|
|
driver: macvlan
|
||
|
|
driver_opts:
|
||
|
|
parent: wlx00e04c5513fc # pc network interface: here my wifi card. Can be found with ifconfig.
|
||
|
|
ipam:
|
||
|
|
config:
|
||
|
|
- subnet: 192.168.0.0/24
|
||
|
|
gateway: 192.168.0.1
|
||
|
|
ip_range: 192.168.0.200/25
|
||
|
|
aux_addresses:
|
||
|
|
net-address: 192.168.0.100 #? what is this for --> to exclude addresses from buing used.
|
||
|
|
|
||
|
|
services:
|
||
|
|
# rviz2
|
||
|
|
rviz2:
|
||
|
|
image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
|
||
|
|
# command: >
|
||
|
|
# ros2 launch cps_rmp220_support robot_rviz2.launch.py
|
||
|
|
command: >
|
||
|
|
ros2 launch cps_rmp220_support rviz.launch.py
|
||
|
|
# 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
|
||
|
|
- ROS_DOMAIN_ID=5
|
||
|
|
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||
|
|
volumes:
|
||
|
|
# Allows graphical programs in the container.
|
||
|
|
- /tmp/.X11-unix:/tmp/.X11-unix:rw
|
||
|
|
- ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
|
||
|
|
# networks: # not using bridging anymore, instead try using all services on macvlan? let's see... shoudl word for now. Bridging does definitely not work because multicast is not supported here.
|
||
|
|
# pc:
|
||
|
|
# ipv4_address: 192.168.0.201 #here need to set fixed ip to avoid collissions with other containers on robot.
|