460 lines
12 KiB
YAML
460 lines
12 KiB
YAML
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.
|
|
|
|
services:
|
|
# Base image containing dependencies.
|
|
base:
|
|
image: ghcr.io/bjoernellens1/ros2_rmp/rmp:base
|
|
build:
|
|
context: .
|
|
dockerfile: docker/Dockerfile
|
|
tags:
|
|
- ghcr.io/bjoernellens1/ros2_rmp/rmp:base
|
|
args:
|
|
ROS_DISTRO: humble
|
|
target: base
|
|
x-bake:
|
|
platforms:
|
|
- linux/arm64
|
|
- linux/amd64
|
|
|
|
# Interactive shell
|
|
stdin_open: true
|
|
tty: true
|
|
# Networking and IPC for ROS 2
|
|
#network_mode: host
|
|
ipc: host
|
|
# Needed to display graphical applications
|
|
#privileged: true
|
|
environment:
|
|
# Allows graphical programs in the container.
|
|
- DISPLAY=${DISPLAY}
|
|
- QT_X11_NO_MITSHM=1
|
|
- NVIDIA_DRIVER_CAPABILITIES=all
|
|
volumes:
|
|
# Allows graphical programs in the container.
|
|
- /tmp/.X11-unix:/tmp/.X11-unix:rw
|
|
- ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
|
|
|
|
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
|
|
image: ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
|
|
build:
|
|
context: .
|
|
dockerfile: docker/Dockerfile
|
|
tags:
|
|
- ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
|
|
target: overlay
|
|
x-bake:
|
|
platforms:
|
|
- linux/arm64
|
|
- linux/amd64
|
|
volumes:
|
|
- .:/repo
|
|
command: >
|
|
/bin/bash
|
|
|
|
# Additional dependencies for GUI applications
|
|
guis:
|
|
extends: overlay
|
|
image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
|
|
build:
|
|
context: .
|
|
dockerfile: docker/Dockerfile
|
|
tags:
|
|
- ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
|
|
target: guis
|
|
x-bake:
|
|
platforms:
|
|
- linux/arm64
|
|
- linux/amd64
|
|
#entrypoint: /bin/bash
|
|
command: >
|
|
/bin/bash
|
|
|
|
# Robot State Publisher
|
|
rsp:
|
|
extends: overlay
|
|
command: >
|
|
ros2 launch cps_rmp220_support rsp.launch.py
|
|
stdin_open: true
|
|
tty: true
|
|
# Networking and IPC for ROS 2
|
|
#network_mode: host
|
|
ipc: host
|
|
environment:
|
|
- ROS_DOMAIN_ID=5
|
|
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
|
|
# Controller
|
|
controller:
|
|
extends: base
|
|
command: >
|
|
ros2 run segwayrmp SmartCar --ros-args -r cmd_vel:=cmd_vel_out -p serial_full_name:=/dev/segway
|
|
devices:
|
|
- /dev/segway:/dev/segway
|
|
- /dev/ttyUSB0:/dev/ttyUSB0
|
|
# Interactive shell
|
|
stdin_open: true
|
|
tty: true
|
|
# Networking and IPC for ROS 2
|
|
#network_mode: host
|
|
ipc: host
|
|
# Needed to display graphical applications
|
|
privileged: false
|
|
# depends_on:
|
|
# - robot_state_publisher
|
|
environment:
|
|
- ROS_DOMAIN_ID=5
|
|
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
|
|
# teleop
|
|
teleop:
|
|
extends: base
|
|
depends_on:
|
|
- controller
|
|
command: >
|
|
ros2 launch rmp220_teleop robot_joystick.launch.py
|
|
devices:
|
|
- /dev/input/js0:/dev/input/js0
|
|
# Interactive shell
|
|
stdin_open: true
|
|
tty: true
|
|
# Networking and IPC for ROS 2
|
|
#network_mode: host
|
|
ipc: host
|
|
# Needed to display graphical applications
|
|
privileged: true
|
|
environment:
|
|
- ROS_DOMAIN_ID=5
|
|
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
|
|
# lidar
|
|
lidar:
|
|
extends: overlay
|
|
command: >
|
|
ros2 launch cps_rmp220_support robot_lidar.launch.py serial_port:=/dev/rplidarA1
|
|
stdin_open: true
|
|
tty: true
|
|
# Networking and IPC for ROS 2
|
|
#network_mode: host
|
|
ipc: host
|
|
# depends_on:
|
|
# - robot_state_publisher
|
|
environment:
|
|
- ROS_DOMAIN_ID=5
|
|
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
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"
|
|
|
|
|
|
# localiaztion by ekf node
|
|
ekf:
|
|
extends: overlay
|
|
depends_on:
|
|
- controller
|
|
- rsp
|
|
command: >
|
|
ros2 launch cps_rmp220_support robot_localization.launch.py
|
|
# Interactive shell
|
|
stdin_open: true
|
|
tty: true
|
|
# Networking and IPC for ROS 2
|
|
#network_mode: host
|
|
ipc: host
|
|
environment:
|
|
- ROS_DOMAIN_ID=5
|
|
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
|
|
# mapping
|
|
mapping:
|
|
extends: overlay
|
|
depends_on:
|
|
- ekf
|
|
- rsp
|
|
- lidar
|
|
command: >
|
|
ros2 launch cps_rmp220_support robot_mapping.launch.py
|
|
# Interactive shell
|
|
stdin_open: true
|
|
tty: true
|
|
# Networking and IPC for ROS 2
|
|
#network_mode: host
|
|
ipc: host
|
|
environment:
|
|
- ROS_DOMAIN_ID=5
|
|
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
|
|
# slam-toolbox-localization
|
|
localization:
|
|
extends: overlay
|
|
depends_on:
|
|
- ekf
|
|
- rsp
|
|
- lidar
|
|
command: >
|
|
ros2 launch cps_rmp220_support robot_mapping_localization.launch.py map_file_name:=/repo/maps/map.yaml
|
|
# Interactive shell
|
|
stdin_open: true
|
|
tty: true
|
|
# Networking and IPC for ROS 2
|
|
#network_mode: host
|
|
ipc: host
|
|
environment:
|
|
- ROS_DOMAIN_ID=5
|
|
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
|
|
# amcl_localization
|
|
amcl:
|
|
extends: overlay
|
|
depends_on:
|
|
- ekf
|
|
- rsp
|
|
- lidar
|
|
command: >
|
|
ros2 launch cps_rmp220_support robot_amcl.launch.py map:=/repo/maps/map.yaml
|
|
# Interactive shell
|
|
stdin_open: true
|
|
tty: true
|
|
# Networking and IPC for ROS 2
|
|
#network_mode: host
|
|
ipc: host
|
|
environment:
|
|
- ROS_DOMAIN_ID=5
|
|
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
|
|
# navigation
|
|
navigation:
|
|
extends: overlay
|
|
depends_on:
|
|
- controller
|
|
- teleop
|
|
- rsp
|
|
- lidar
|
|
- ekf
|
|
- oakd
|
|
# command: >
|
|
# ros2 launch cps_rmp220_support robot_navigation.launch.py
|
|
# map_subscribe_transient_local:=true
|
|
command: >
|
|
ros2 launch nav2_bringup bringup_launch.py slam:=True map:=/repo/maps/map_current.sav.yaml use_sim_time:=False use_composition:=True params_file:=/overlay_ws/src/cps_rmp220_support/config/nav2_params.yaml
|
|
stdin_open: true
|
|
tty: true
|
|
# Networking and IPC for ROS 2
|
|
#network_mode: host
|
|
ipc: host
|
|
environment:
|
|
- ROS_DOMAIN_ID=5
|
|
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
|
|
# bash
|
|
bash:
|
|
extends: overlay
|
|
command: >
|
|
/bin/bash
|
|
stdin_open: true
|
|
tty: true
|
|
# Networking and IPC for ROS 2
|
|
#network_mode: host
|
|
ipc: host
|
|
environment:
|
|
- ROS_DOMAIN_ID=5
|
|
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
|
|
# rviz2
|
|
rviz2:
|
|
#extends: guis
|
|
image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
|
|
# command: >
|
|
# ros2 launch cps_rmp220_support robot_rviz2.launch.py
|
|
command: >
|
|
ros2 launch cps_rmp220_support rviz.launch.py
|
|
# Interactive shell
|
|
stdin_open: true
|
|
tty: true
|
|
# Networking and IPC for ROS 2
|
|
network_mode: host
|
|
ipc: host
|
|
# Needed to display graphical applications
|
|
privileged: true
|
|
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
|
|
command: >
|
|
ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
|
|
stdin_open: true
|
|
tty: true
|
|
# Networking and IPC for ROS 2
|
|
#network_mode: host
|
|
ipc: host
|
|
environment:
|
|
- ROS_DOMAIN_ID=5
|
|
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
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: 192.168.0.201 #actually don't need to set ips. they are set automatically by docker-compose. SHould be inherited by all child services.
|
|
|
|
|
|
# Foxglove Studio Webserver
|
|
foxglove_webserver:
|
|
image: ghcr.io/foxglove/studio:latest
|
|
stdin_open: true
|
|
tty: true
|
|
# Networking
|
|
network_mode: bridge
|
|
ports:
|
|
- 8080:8080
|
|
depends_on:
|
|
- foxglove_bridge
|
|
volumes:
|
|
- ./foxglove/default.json:/foxglove/default-layout.json
|
|
|
|
# USB Camera Stream
|
|
cam:
|
|
extends: overlay
|
|
command: >
|
|
ros2 run ros2_cam_openCV cam_node
|
|
stdin_open: true
|
|
tty: true
|
|
# Networking and IPC for ROS 2
|
|
#network_mode: host
|
|
ipc: host
|
|
environment:
|
|
- ROS_DOMAIN_ID=5
|
|
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
devices:
|
|
- /dev/video0:/dev/video0
|
|
|
|
|
|
# ROS2 Frontier exploration
|
|
explorer:
|
|
extends: overlay
|
|
depends_on:
|
|
- controller
|
|
- teleop
|
|
- rsp
|
|
- lidar
|
|
- ekf
|
|
- navigation
|
|
command: >
|
|
ros2 launch cps_rmp220_support robot_exploration.launch.py
|
|
stdin_open: true
|
|
tty: true
|
|
# Networking and IPC for ROS 2
|
|
#network_mode: host
|
|
ipc: host
|
|
environment:
|
|
- ROS_DOMAIN_ID=5
|
|
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
|
|
### 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
|
|
|
|
#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
|
|
|
|
|
|
# ROS2 oak-d-lite camera
|
|
oakd:
|
|
extends: overlay
|
|
command: >
|
|
ros2 launch depthai_examples stereo.launch.py
|
|
stdin_open: true
|
|
tty: true
|
|
# Networking and IPC for ROS 2
|
|
#network_mode: host
|
|
ipc: host
|
|
environment:
|
|
- ROS_DOMAIN_ID=5
|
|
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
|
|
#privileged: true
|
|
#devices:
|
|
#- /dev/oakd-lite:/dev/oakd-lite # need corresponding udevrules for this to work:
|
|
# SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666", SYMLINK+="oakd-lite"
|
|
#- /dev/:/dev/
|
|
device_cgroup_rules:
|
|
- 'c 189:* rmw'
|
|
volumes:
|
|
- /dev/bus/usb:/dev/bus/usb
|
|
|
|
|
|
# for testing the oak-d-lite camera -> works now with cgroup rules
|
|
depthai:
|
|
image: luxonis/depthai:latest
|
|
command: >
|
|
python3 /depthai/depthai_demo.py
|
|
stdin_open: true
|
|
tty: true
|
|
device_cgroup_rules:
|
|
- 'c 189:* rmw'
|
|
volumes:
|
|
- /dev/bus/usb:/dev/bus/usb
|
|
environment:
|
|
- DISPLAY=${DISPLAY}
|
|
- QT_X11_NO_MITSHM=1
|
|
- NVIDIA_DRIVER_CAPABILITIES=all
|
|
|