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@ -39,10 +39,6 @@ services:
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- ./config/entrypoint.sh:/entrypoint.sh
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- ./config/cyclonedds.xml:/cyclonedds.xml
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# 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.
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# rmp:
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# #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.
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# Overlay image containing the project specific source code.
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overlay:
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extends: base
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@ -72,10 +68,6 @@ services:
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tags:
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- ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
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target: guis
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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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command: >
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/bin/bash
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devices:
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@ -191,19 +183,6 @@ services:
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image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
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command: >
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ros2 launch cps_rmp220_support rviz.launch.py
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# Needed to display graphical applications
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privileged: true # really necessary?
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environment:
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# Allows graphical programs in the container.
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- DISPLAY=${DISPLAY}
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- QT_X11_NO_MITSHM=1
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- NVIDIA_DRIVER_CAPABILITIES=all
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- ROS_DOMAIN_ID=5
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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volumes:
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# Allows graphical programs in the container.
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- /tmp/.X11-unix:/tmp/.X11-unix:rw
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- ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
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# Foxglove Studio Bridge
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foxglove_bridge:
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@ -226,35 +205,6 @@ services:
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volumes:
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- ./config/foxglove/default.json:/foxglove/default-layout.json
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# USB Camera Stream
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# cam:
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# extends: overlay
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# command: >
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# ros2 run ros2_cam_openCV cam_node
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# devices:
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# - /dev/video0:/dev/video0
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# cam:
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# extends: overlay
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# command: >
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# ros2 launch ffmpeg_image_transport cam.launch.py
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# devices:
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# - /dev/video0:/dev/video0
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# - /dev/dri:/dev/dri
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webcam:
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extends: overlay
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image: husarion/image-transport:humble-4.2.0
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devices:
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- /dev/video0:/dev/video0
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- /dev/dri:/dev/dri
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volumes:
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- ./:/repo
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command: >
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ros2 launch /repo/webcam.launch.py
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ffmpeg_encoding:=libx264
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ffmpeg_preset:=ultrafast
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ffmpeg_tune:=zerolatency
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# ROS2 Frontier exploration
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explorer:
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extends: overlay
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@ -336,7 +286,7 @@ services:
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ros2 launch depthai_examples stereo.launch.py
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#devices:
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#- /dev/oakd-lite:/dev/oakd-lite # need corresponding udevrules for this to work:
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# SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666", SYMLINK+="oakd-lite"
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# SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666", SYMLINK+="oakd-lite"
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#- /dev/:/dev/
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device_cgroup_rules:
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- 'c 189:* rmw'
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@ -378,14 +328,17 @@ services:
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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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- ROS_DOMAIN_ID=5
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restart: always
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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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# - ROS_DOMAIN_ID=5
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# restart: always
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# Webui Stuff
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# need to properly setup ros1bridge initialization
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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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@ -399,16 +352,12 @@ services:
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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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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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@ -440,6 +389,24 @@ services:
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- "1337:1337"
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restart: always
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# Webcam stream with ffmpeg x264 compression
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# need to add ros-humble-v4l2-camera
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webcam:
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#extends: overlay
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build: https://github.com/bjoernellens1/image-transport-docker/raw/main/demo/webcam/Dockerfile.webcam
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image: husarion/image-transport:humble-4.2.0
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devices:
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- /dev/video1:/dev/video0
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- /dev/dri:/dev/dri
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volumes:
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- ./:/repo
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command: >
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ros2 launch /repo/webcam.launch.py
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ffmpeg_encoding:=libx264
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ffmpeg_preset:=ultrafast
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ffmpeg_tune:=zerolatency
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################################################################################################################################
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# Docker related extra stuff #
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################################################################################################################################
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