update
This commit is contained in:
Your Name
parent
5b5c0ca098
commit
cbc84b434b
@ -2,7 +2,7 @@
|
||||
# debug
|
||||
# }
|
||||
|
||||
http://loki {
|
||||
http://cps-seggy {
|
||||
root * /usr/share/caddy
|
||||
file_server browse
|
||||
|
||||
@ -20,7 +20,7 @@ http://loki {
|
||||
}
|
||||
}
|
||||
|
||||
http://loki.local {
|
||||
http://cps-seggy.local {
|
||||
root * /usr/share/caddy
|
||||
file_server browse
|
||||
|
||||
|
||||
@ -1,28 +1,5 @@
|
||||
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: eno1 # robot network interface
|
||||
# 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.
|
||||
# make new bridge network for ros
|
||||
rmp:
|
||||
driver: bridge
|
||||
# ipam:
|
||||
# config:
|
||||
# - subnet:
|
||||
|
||||
# add this mountpoint to all services: - ./customize/entrypoint.sh:/entrypoint.sh
|
||||
# Attention: child services will inherit settings from their parents. So if you set a network_mode: host in the base service, all child services will also use host networking. This is not always what you want. So be careful with this.
|
||||
|
||||
services:
|
||||
# Base image containing dependencies.
|
||||
base:
|
||||
@ -141,8 +118,8 @@ services:
|
||||
ros2 launch cps_rmp220_support robot_lidar.launch.py serial_port:=/dev/rplidarA1
|
||||
devices:
|
||||
- /dev/rplidarA1:/dev/rplidarA1 #udevrules needed for this to work:
|
||||
# SUBSYSTEM=="tty", ATTRS{serial}=="0001", SYMLINK+="segway"
|
||||
# SUBSYSTEM=="tty", ATTRS{serial}=="3453995662b3af4f81f4a69eba5f3f29", SYMLINK+="rplidarA1"
|
||||
# SUBSYSTEM=="tty", ATTRS{serial}=="0001", SYMLINK+="segway"
|
||||
# SUBSYSTEM=="tty", ATTRS{serial}=="3453995662b3af4f81f4a69eba5f3f29", SYMLINK+="rplidarA1"
|
||||
|
||||
# Lidar filtering node.
|
||||
lidar_filter:
|
||||
@ -241,6 +218,8 @@ services:
|
||||
tty: true
|
||||
# Networking
|
||||
network_mode: bridge
|
||||
networks:
|
||||
- caddy_network
|
||||
ports:
|
||||
- 8080:8080
|
||||
depends_on:
|
||||
@ -272,41 +251,41 @@ services:
|
||||
|
||||
### Images for ROS1 Interactions
|
||||
#ROS1 Bridge
|
||||
ros1bridge:
|
||||
image: ghcr.io/bjoernellens1/ros2_rmp/ros1bridge
|
||||
command: >
|
||||
ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics
|
||||
build:
|
||||
context: .
|
||||
dockerfile: docker/Dockerfile
|
||||
tags:
|
||||
- ghcr.io/bjoernellens1/ros2_rmp/ros1bridge
|
||||
args:
|
||||
ROS_DISTRO: humble
|
||||
target: bridge
|
||||
x-bake:
|
||||
platforms:
|
||||
#- linux/arm64
|
||||
- linux/amd64
|
||||
# Networking and IPC for ROS 2
|
||||
network_mode: host
|
||||
ipc: host
|
||||
environment:
|
||||
- ROS_DOMAIN_ID=5
|
||||
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
- ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here
|
||||
# ros1bridge:
|
||||
# image: ghcr.io/bjoernellens1/ros2_rmp/ros1bridge
|
||||
# command: >
|
||||
# ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics
|
||||
# build:
|
||||
# context: .
|
||||
# dockerfile: docker/Dockerfile
|
||||
# tags:
|
||||
# - ghcr.io/bjoernellens1/ros2_rmp/ros1bridge
|
||||
# args:
|
||||
# ROS_DISTRO: humble
|
||||
# target: bridge
|
||||
# x-bake:
|
||||
# platforms:
|
||||
# #- linux/arm64
|
||||
# - linux/amd64
|
||||
# # Networking and IPC for ROS 2
|
||||
# network_mode: host
|
||||
# ipc: host
|
||||
# environment:
|
||||
# - ROS_DOMAIN_ID=5
|
||||
# - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
# - ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here
|
||||
|
||||
#ROS1 roscore
|
||||
roscore:
|
||||
command: >
|
||||
roscore
|
||||
extends: ros1bridge
|
||||
network_mode: host
|
||||
ipc: host
|
||||
environment:
|
||||
- ROS_DOMAIN_ID=5
|
||||
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
- ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here
|
||||
# roscore:
|
||||
# command: >
|
||||
# roscore
|
||||
# extends: ros1bridge
|
||||
# network_mode: host
|
||||
# ipc: host
|
||||
# environment:
|
||||
# - ROS_DOMAIN_ID=5
|
||||
# - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
# - ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here
|
||||
|
||||
## Configure on ROS1 Hosts
|
||||
# seggy 192.168.0.100
|
||||
@ -360,25 +339,91 @@ services:
|
||||
- DISPLAY=${DISPLAY}
|
||||
- QT_X11_NO_MITSHM=1
|
||||
- NVIDIA_DRIVER_CAPABILITIES=all
|
||||
|
||||
zerotier:
|
||||
image: "zyclonite/zerotier:router"
|
||||
container_name: zerotier-one
|
||||
devices:
|
||||
- /dev/net/tun
|
||||
network_mode: host
|
||||
|
||||
################################################################################################################################
|
||||
# Core Services for Web Management #
|
||||
################################################################################################################################
|
||||
caddy:
|
||||
image: caddy:latest
|
||||
networks:
|
||||
- caddy_network
|
||||
extra_hosts:
|
||||
- "host.docker.internal:host-gateway"
|
||||
ports:
|
||||
- "80:80"
|
||||
- "443:443"
|
||||
volumes:
|
||||
- '/var/lib/zerotier-one:/var/lib/zerotier-one'
|
||||
cap_add:
|
||||
- NET_ADMIN
|
||||
- SYS_ADMIN
|
||||
- NET_RAW
|
||||
restart: unless-stopped
|
||||
- ./config/caddy/Caddyfile:/etc/caddy/Caddyfile
|
||||
- ./config/caddy/content:/usr/share/caddy/
|
||||
restart: always
|
||||
depends_on:
|
||||
- foxglove
|
||||
- olivetin
|
||||
roscore:
|
||||
image: husarion/ros1-bridge:foxy-0.9.6-20230327-stable
|
||||
command: |
|
||||
bash -c "source /opt/ros/noetic/setup.bash && roscore"
|
||||
network_mode: host
|
||||
environment:
|
||||
- TZ=Europe/Amsterdam
|
||||
- PUID=1000
|
||||
- PGID=1000
|
||||
- ZEROTIER_ONE_LOCAL_PHYS=enp5s0 wlx00e04c5513fc # change for actual interfaces
|
||||
- ZEROTIER_ONE_USE_IPTABLES_NFT=false
|
||||
- ZEROTIER_ONE_GATEWAY_MODE=inbound # might change to both ways
|
||||
#- ZEROTIER_ONE_NETWORK_IDS= # does not really do much?
|
||||
- ROS_DOMAIN_ID=5
|
||||
restart: always
|
||||
ros1bridge:
|
||||
image: husarion/ros1-bridge:foxy-0.9.6-20230327-stable
|
||||
command: |
|
||||
ros2 run ros1_bridge dynamic_bridge
|
||||
network_mode: host
|
||||
ipc: host
|
||||
environment:
|
||||
- ROS_DOMAIN_ID=5
|
||||
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
||||
restart: always
|
||||
webui-joystick:
|
||||
image: husarion/webui-ros-joystick:noetic-0.0.1-20230510-stable
|
||||
network_mode: host
|
||||
# networks:
|
||||
# - caddy_network
|
||||
# ports:
|
||||
# - 8000:8000
|
||||
ipc: host
|
||||
environment:
|
||||
- ROS_DOMAIN_ID=5
|
||||
restart: always
|
||||
depends_on:
|
||||
- ros1bridge
|
||||
command: roslaunch webui-ros-joystick webui.launch
|
||||
olivetin:
|
||||
container_name: olivetin
|
||||
image: jamesread/olivetin
|
||||
#image: ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
|
||||
build:
|
||||
context: .
|
||||
dockerfile: docker/Dockerfile
|
||||
tags:
|
||||
- ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
|
||||
target: olivetin
|
||||
x-bake:
|
||||
platforms:
|
||||
#- linux/arm64
|
||||
- linux/amd64
|
||||
user: root
|
||||
privileged: true
|
||||
volumes:
|
||||
- ./config/olivetin/:/config/ # here is config.yaml and icons located
|
||||
- ./config/olivetin/icons:/var/www/olivetin/customIcons
|
||||
- .:/repo
|
||||
- /var/run/docker.sock:/var/run/docker.sock
|
||||
|
||||
# - /var/lib/docker:/var/lib/docker
|
||||
- ~/.ssh/id_rsa:/root/.ssh/id_rsa
|
||||
networks:
|
||||
- caddy_network
|
||||
ports:
|
||||
- "1337:1337"
|
||||
restart: always
|
||||
|
||||
################################################################################################################################
|
||||
# Docker related extra stuff #
|
||||
################################################################################################################################
|
||||
networks:
|
||||
caddy_network:
|
||||
driver: bridge
|
||||
Loading…
Reference in New Issue
Block a user