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@ -2,7 +2,7 @@
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# debug
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# }
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http://loki {
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http://cps-seggy {
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root * /usr/share/caddy
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file_server browse
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@ -20,7 +20,7 @@ http://loki {
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}
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}
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http://loki.local {
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http://cps-seggy.local {
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root * /usr/share/caddy
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file_server browse
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@ -1,28 +1,5 @@
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version: "3.9"
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# First network configuration. Change this to the network interface you want to use primarily. (Better configuration for multiple Network interfaces needed).
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networks:
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# rmp:
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# driver: macvlan
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# driver_opts:
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# parent: eno1 # robot network interface
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# ipam:
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# config:
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# - subnet: 192.168.0.0/24
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# gateway: 192.168.0.1
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# ip_range: 192.168.0.200/25
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# aux_addresses:
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# net-address: 192.168.0.100 #? what is this for --> to exclude addresses from buing used.
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# make new bridge network for ros
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rmp:
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driver: bridge
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# ipam:
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# config:
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# - subnet:
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# add this mountpoint to all services: - ./customize/entrypoint.sh:/entrypoint.sh
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# 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.
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services:
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# Base image containing dependencies.
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base:
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@ -141,8 +118,8 @@ services:
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ros2 launch cps_rmp220_support robot_lidar.launch.py serial_port:=/dev/rplidarA1
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devices:
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- /dev/rplidarA1:/dev/rplidarA1 #udevrules needed for this to work:
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# SUBSYSTEM=="tty", ATTRS{serial}=="0001", SYMLINK+="segway"
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# SUBSYSTEM=="tty", ATTRS{serial}=="3453995662b3af4f81f4a69eba5f3f29", SYMLINK+="rplidarA1"
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# SUBSYSTEM=="tty", ATTRS{serial}=="0001", SYMLINK+="segway"
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# SUBSYSTEM=="tty", ATTRS{serial}=="3453995662b3af4f81f4a69eba5f3f29", SYMLINK+="rplidarA1"
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# Lidar filtering node.
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lidar_filter:
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@ -241,6 +218,8 @@ services:
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tty: true
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# Networking
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network_mode: bridge
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networks:
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- caddy_network
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ports:
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- 8080:8080
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depends_on:
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@ -272,41 +251,41 @@ services:
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### Images for ROS1 Interactions
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#ROS1 Bridge
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ros1bridge:
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image: ghcr.io/bjoernellens1/ros2_rmp/ros1bridge
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command: >
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ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics
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build:
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context: .
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dockerfile: docker/Dockerfile
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tags:
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- ghcr.io/bjoernellens1/ros2_rmp/ros1bridge
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args:
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ROS_DISTRO: humble
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target: bridge
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x-bake:
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platforms:
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#- linux/arm64
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- linux/amd64
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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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environment:
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- ROS_DOMAIN_ID=5
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here
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# ros1bridge:
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# image: ghcr.io/bjoernellens1/ros2_rmp/ros1bridge
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# command: >
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# ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics
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# build:
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# context: .
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# dockerfile: docker/Dockerfile
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# tags:
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# - ghcr.io/bjoernellens1/ros2_rmp/ros1bridge
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# args:
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# ROS_DISTRO: humble
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# target: bridge
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# x-bake:
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# platforms:
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# #- linux/arm64
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# - linux/amd64
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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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# environment:
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# - ROS_DOMAIN_ID=5
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# - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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# - ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here
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#ROS1 roscore
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roscore:
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command: >
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roscore
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extends: ros1bridge
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network_mode: host
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ipc: host
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environment:
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- ROS_DOMAIN_ID=5
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here
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# roscore:
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# command: >
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# roscore
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# extends: ros1bridge
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# network_mode: host
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# ipc: host
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# environment:
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# - ROS_DOMAIN_ID=5
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# - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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# - ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here
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## Configure on ROS1 Hosts
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# seggy 192.168.0.100
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@ -361,24 +340,90 @@ services:
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- QT_X11_NO_MITSHM=1
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- NVIDIA_DRIVER_CAPABILITIES=all
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zerotier:
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image: "zyclonite/zerotier:router"
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container_name: zerotier-one
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devices:
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- /dev/net/tun
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network_mode: host
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################################################################################################################################
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# Core Services for Web Management #
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################################################################################################################################
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caddy:
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image: caddy:latest
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networks:
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- caddy_network
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extra_hosts:
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- "host.docker.internal:host-gateway"
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ports:
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- "80:80"
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- "443:443"
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volumes:
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- '/var/lib/zerotier-one:/var/lib/zerotier-one'
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cap_add:
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- NET_ADMIN
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- SYS_ADMIN
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- NET_RAW
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restart: unless-stopped
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- ./config/caddy/Caddyfile:/etc/caddy/Caddyfile
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- ./config/caddy/content:/usr/share/caddy/
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restart: always
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depends_on:
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- foxglove
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- olivetin
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roscore:
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image: husarion/ros1-bridge:foxy-0.9.6-20230327-stable
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command: |
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bash -c "source /opt/ros/noetic/setup.bash && roscore"
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network_mode: host
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environment:
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- TZ=Europe/Amsterdam
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- PUID=1000
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- PGID=1000
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- ZEROTIER_ONE_LOCAL_PHYS=enp5s0 wlx00e04c5513fc # change for actual interfaces
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- ZEROTIER_ONE_USE_IPTABLES_NFT=false
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- ZEROTIER_ONE_GATEWAY_MODE=inbound # might change to both ways
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#- ZEROTIER_ONE_NETWORK_IDS= # does not really do much?
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- ROS_DOMAIN_ID=5
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restart: always
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ros1bridge:
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image: husarion/ros1-bridge:foxy-0.9.6-20230327-stable
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command: |
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ros2 run ros1_bridge dynamic_bridge
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network_mode: host
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ipc: host
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environment:
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- ROS_DOMAIN_ID=5
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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restart: always
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webui-joystick:
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image: husarion/webui-ros-joystick:noetic-0.0.1-20230510-stable
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network_mode: host
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# networks:
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# - caddy_network
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# ports:
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# - 8000:8000
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ipc: host
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environment:
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- ROS_DOMAIN_ID=5
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restart: always
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depends_on:
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- ros1bridge
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command: roslaunch webui-ros-joystick webui.launch
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olivetin:
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container_name: olivetin
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image: jamesread/olivetin
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#image: ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
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build:
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context: .
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dockerfile: docker/Dockerfile
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tags:
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- ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
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target: olivetin
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x-bake:
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platforms:
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#- linux/arm64
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- linux/amd64
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user: root
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privileged: true
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volumes:
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- ./config/olivetin/:/config/ # here is config.yaml and icons located
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- ./config/olivetin/icons:/var/www/olivetin/customIcons
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- .:/repo
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- /var/run/docker.sock:/var/run/docker.sock
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# - /var/lib/docker:/var/lib/docker
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- ~/.ssh/id_rsa:/root/.ssh/id_rsa
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networks:
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- caddy_network
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ports:
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- "1337:1337"
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restart: always
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################################################################################################################################
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# Docker related extra stuff #
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################################################################################################################################
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networks:
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caddy_network:
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driver: bridge
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