ellensohn/ros2_rmp
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update: trying to do some networking stuff

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This commit is contained in:
Björn Ellensohn 2023-09-13 11:45:32 +02:00
parent d966e1e84f
commit 9b2ef84002
1 changed files with 36 additions and 16 deletions
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52
docker-compose.yaml
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@ -1,5 +1,21 @@
version: "3.9"
# First network configuration. Change this to the network interface you want to use primarily. (Better configuration for multiple Network interfaces needed).
networks:
rmp:
driver: macvlan
driver_opts:
parent: wlx00e04c5513fc
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.
ros2-bridge:
driver: bridge
services:
# Base image containing dependencies.
base:
@ -21,7 +37,7 @@ services:
stdin_open: true
tty: true
# Networking and IPC for ROS 2
network_mode: host
#network_mode: host
ipc: host
# Needed to display graphical applications
#privileged: true
@ -80,7 +96,7 @@ services:
stdin_open: true
tty: true
# Networking and IPC for ROS 2
network_mode: host
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
@ -98,7 +114,7 @@ services:
stdin_open: true
tty: true
# Networking and IPC for ROS 2
network_mode: host
#network_mode: host
ipc: host
# Needed to display graphical applications
privileged: false
@ -107,6 +123,10 @@ services:
environment:
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
networks:
rmp:
ipv4_address: 192.168.0.100
ros-bridge:
# teleop
teleop:
@ -119,7 +139,7 @@ services:
stdin_open: true
tty: true
# Networking and IPC for ROS 2
network_mode: host
#network_mode: host
ipc: host
# Needed to display graphical applications
privileged: true
@ -135,7 +155,7 @@ services:
stdin_open: true
tty: true
# Networking and IPC for ROS 2
network_mode: host
#network_mode: host
ipc: host
# depends_on:
# - robot_state_publisher
@ -157,7 +177,7 @@ services:
stdin_open: true
tty: true
# Networking and IPC for ROS 2
network_mode: host
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
@ -172,7 +192,7 @@ services:
stdin_open: true
tty: true
# Networking and IPC for ROS 2
network_mode: host
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
@ -187,7 +207,7 @@ services:
stdin_open: true
tty: true
# Networking and IPC for ROS 2
network_mode: host
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
@ -202,7 +222,7 @@ services:
stdin_open: true
tty: true
# Networking and IPC for ROS 2
network_mode: host
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
@ -217,7 +237,7 @@ services:
stdin_open: true
tty: true
# Networking and IPC for ROS 2
network_mode: host
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
@ -231,7 +251,7 @@ services:
stdin_open: true
tty: true
# Networking and IPC for ROS 2
network_mode: host
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
@ -248,7 +268,7 @@ services:
stdin_open: true
tty: true
# Networking and IPC for ROS 2
network_mode: host
#network_mode: host
ipc: host
# Needed to display graphical applications
privileged: true
@ -272,7 +292,7 @@ services:
stdin_open: true
tty: true
# Networking and IPC for ROS 2
network_mode: host
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
@ -297,7 +317,7 @@ services:
stdin_open: true
tty: true
# Networking and IPC for ROS 2
network_mode: host
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
@ -324,7 +344,7 @@ services:
#- linux/arm64
- linux/amd64
# Networking and IPC for ROS 2
network_mode: host
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5
@ -336,7 +356,7 @@ services:
command: >
roscore
extends: ros1bridge
network_mode: host
#network_mode: host
ipc: host
environment:
- ROS_DOMAIN_ID=5