From e1de2cbf77cc6922b0e12ebcb60613da432d5862 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 2 Apr 2024 11:13:35 +0200
Subject: [PATCH] update

---
 docker-compose.yaml | 99 +++++++++++++++------------------------------
 1 file changed, 33 insertions(+), 66 deletions(-)

diff --git a/docker-compose.yaml b/docker-compose.yaml
index c1b717c..d8b900a 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -39,10 +39,6 @@ services:
       - ./config/entrypoint.sh:/entrypoint.sh
       - ./config/cyclonedds.xml:/cyclonedds.xml
 
-    # 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.
-    #   rmp:
-    #     #ipv4_address: 192.168.0.101 #actually don't need to set ips. they are set automatically by docker-compose. SHould be inherited by all child services.
-
   # Overlay image containing the project specific source code.
   overlay:
     extends: base
@@ -72,10 +68,6 @@ services:
       tags:
         - ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
       target: guis
-      x-bake:
-        platforms:
-          - linux/arm64
-          - linux/amd64
     command: >
       /bin/bash
     devices:
@@ -191,20 +183,7 @@ services:
     image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
     command: >
       ros2 launch cps_rmp220_support rviz.launch.py
-    # Needed to display graphical applications
-    privileged: true # really necessary?
-    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
-    
+
   # Foxglove Studio Bridge
   foxglove_bridge:
     extends: overlay
@@ -226,35 +205,6 @@ services:
     volumes:
       - ./config/foxglove/default.json:/foxglove/default-layout.json
 
-  # USB Camera Stream
-  # cam:
-  #   extends: overlay
-  #   command: >
-  #     ros2 run ros2_cam_openCV cam_node
-  #   devices:
-  #     - /dev/video0:/dev/video0
-
-  # cam:
-  #   extends: overlay
-  #   command: >
-  #     ros2 launch ffmpeg_image_transport cam.launch.py
-  #   devices:
-  #     - /dev/video0:/dev/video0
-  #     - /dev/dri:/dev/dri
-  webcam:
-    extends: overlay
-    image: husarion/image-transport:humble-4.2.0
-    devices:
-      - /dev/video0:/dev/video0
-      - /dev/dri:/dev/dri
-    volumes:
-      - ./:/repo
-    command: >
-      ros2 launch /repo/webcam.launch.py
-        ffmpeg_encoding:=libx264
-        ffmpeg_preset:=ultrafast
-        ffmpeg_tune:=zerolatency
-
   # ROS2 Frontier exploration
   explorer:
     extends: overlay
@@ -336,7 +286,7 @@ services:
       ros2 launch depthai_examples stereo.launch.py
     #devices:
       #- /dev/oakd-lite:/dev/oakd-lite # need corresponding udevrules for this to work:
-# SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666", SYMLINK+="oakd-lite"
+    # SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666", SYMLINK+="oakd-lite"
       #- /dev/:/dev/ 
     device_cgroup_rules:
       - 'c 189:* rmw'
@@ -378,14 +328,17 @@ services:
     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:
-      - ROS_DOMAIN_ID=5
-    restart: always
+  # 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:
+  #     - ROS_DOMAIN_ID=5
+  #   restart: always
+  
+  # Webui Stuff
+  # need to properly setup ros1bridge initialization
   ros1bridge:
     image: husarion/ros1-bridge:foxy-0.9.6-20230327-stable
     command: |
@@ -399,16 +352,12 @@ services:
   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
+    depends_on:
+     - ros1bridge
     command: roslaunch webui-ros-joystick webui.launch
   olivetin:
     container_name: olivetin
@@ -439,6 +388,24 @@ services:
     ports:
       - "1337:1337"
     restart: always
+  
+  # Webcam stream with ffmpeg x264 compression
+  # need to add ros-humble-v4l2-camera
+  webcam:
+    #extends: overlay
+    build: https://github.com/bjoernellens1/image-transport-docker/raw/main/demo/webcam/Dockerfile.webcam
+    image: husarion/image-transport:humble-4.2.0
+    devices:
+      - /dev/video1:/dev/video0
+      - /dev/dri:/dev/dri
+    volumes:
+      - ./:/repo
+    command: >
+      ros2 launch /repo/webcam.launch.py
+        ffmpeg_encoding:=libx264
+        ffmpeg_preset:=ultrafast
+        ffmpeg_tune:=zerolatency
+
 
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 # Docker related extra stuff                                                                                                   #