481 lines
12 KiB
YAML
481 lines
12 KiB
YAML
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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services:
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# Base image containing dependencies.
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base:
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image: ghcr.io/bjoernellens1/ros2_rmp/rmp:base
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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/rmp:base
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args:
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ROS_DISTRO: humble
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target: base
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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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# Interactive shell
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stdin_open: true
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tty: true
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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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# Needed to display graphical applications
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#privileged: true
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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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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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# 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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image: ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
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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/rmp:overlay
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target: overlay
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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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volumes:
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- .:/repo
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command: >
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/bin/bash
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# Additional dependencies for GUI applications
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guis:
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extends: overlay
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image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
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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/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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#entrypoint: /bin/bash
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command: >
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/bin/bash
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# Robot State Publisher
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rsp:
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extends: overlay
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command: >
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ros2 launch cps_rmp220_support rsp.launch.py
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stdin_open: true
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tty: true
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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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# Controller
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controller:
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extends: base
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command: >
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ros2 run segwayrmp SmartCar --ros-args -r cmd_vel:=cmd_vel_out -p serial_full_name:=/dev/segway
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devices:
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- /dev/segway:/dev/segway
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- /dev/ttyUSB0:/dev/ttyUSB0
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# Interactive shell
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stdin_open: true
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tty: true
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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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# Needed to display graphical applications
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privileged: false
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# depends_on:
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# - robot_state_publisher
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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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# teleop
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teleop:
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extends: base
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depends_on:
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- controller
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command: >
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ros2 launch rmp220_teleop robot_joystick.launch.py
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devices:
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- /dev/input/js0:/dev/input/js0
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# Interactive shell
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stdin_open: true
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tty: true
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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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# Needed to display graphical applications
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privileged: true
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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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# lidar
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lidar:
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extends: overlay
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depends_on:
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- lidar_filter
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command: >
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ros2 launch cps_rmp220_support robot_lidar.launch.py serial_port:=/dev/rplidarA1
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stdin_open: true
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tty: true
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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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# depends_on:
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# - robot_state_publisher
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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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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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# Lidar filtering node.
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lidar_filter:
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extends: overlay
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command: >
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ros2 launch cps_rmp220_support robot_scan_filter.launch.py
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stdin_open: true
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tty: true
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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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# localiaztion by ekf node
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ekf:
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extends: overlay
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depends_on:
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- controller
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- rsp
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command: >
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ros2 launch cps_rmp220_support robot_localization.launch.py
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# Interactive shell
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stdin_open: true
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tty: true
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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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# mapping
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mapping:
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extends: overlay
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depends_on:
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- ekf
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- rsp
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- lidar
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command: >
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ros2 launch cps_rmp220_support robot_mapping.launch.py
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# Interactive shell
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stdin_open: true
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tty: true
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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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# slam-toolbox-localization
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localization:
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extends: overlay
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depends_on:
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- ekf
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- rsp
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- lidar
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command: >
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ros2 launch cps_rmp220_support robot_mapping_localization.launch.py map_file_name:=/repo/maps/map.yaml
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# Interactive shell
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stdin_open: true
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tty: true
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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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# amcl_localization
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amcl:
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extends: overlay
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depends_on:
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- ekf
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- rsp
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- lidar
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command: >
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ros2 launch cps_rmp220_support robot_amcl.launch.py map:=/repo/maps/map.yaml
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# Interactive shell
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stdin_open: true
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tty: true
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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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# navigation
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navigation:
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extends: overlay
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depends_on:
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- controller
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- teleop
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- rsp
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- lidar
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- ekf
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- oakd
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# command: >
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# ros2 launch cps_rmp220_support robot_navigation.launch.py
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# map_subscribe_transient_local:=true
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command: >
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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
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stdin_open: true
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tty: true
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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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# bash
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bash:
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extends: overlay
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command: >
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/bin/bash
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stdin_open: true
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tty: true
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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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# rviz2
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rviz2:
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#extends: guis
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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 robot_rviz2.launch.py
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command: >
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ros2 launch cps_rmp220_support rviz.launch.py
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# Interactive shell
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stdin_open: true
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tty: true
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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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# Needed to display graphical applications
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privileged: true
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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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extends: overlay
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command: >
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ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
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stdin_open: true
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tty: true
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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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# 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: 192.168.0.201 #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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# Foxglove Studio Webserver
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foxglove_webserver:
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image: ghcr.io/foxglove/studio:latest
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stdin_open: true
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tty: true
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# Networking
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network_mode: bridge
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ports:
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- 8080:8080
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depends_on:
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- foxglove_bridge
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volumes:
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- ./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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stdin_open: true
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tty: true
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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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devices:
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- /dev/video0:/dev/video0
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# ROS2 Frontier exploration
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explorer:
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extends: overlay
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depends_on:
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- controller
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- teleop
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- rsp
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- lidar
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- ekf
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- navigation
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command: >
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ros2 launch cps_rmp220_support robot_exploration.launch.py
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stdin_open: true
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tty: true
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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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### 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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#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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# ROS2 oak-d-lite camera
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oakd:
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extends: overlay
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command: >
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ros2 launch depthai_examples stereo.launch.py
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stdin_open: true
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tty: true
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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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#privileged: true
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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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#- /dev/:/dev/
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device_cgroup_rules:
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- 'c 189:* rmw'
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volumes:
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- /dev/bus/usb:/dev/bus/usb
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# for testing the oak-d-lite camera -> works now with cgroup rules
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depthai:
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image: luxonis/depthai:latest
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command: >
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python3 /depthai/depthai_demo.py
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stdin_open: true
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tty: true
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device_cgroup_rules:
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- 'c 189:* rmw'
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volumes:
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- /dev/bus/usb:/dev/bus/usb
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environment:
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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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