429 lines
12 KiB
YAML
429 lines
12 KiB
YAML
version: "3.9"
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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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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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# set correct ros2 parameters: domain id and rmw implementation
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- ROS_DOMAIN_ID=5
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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- CYCLONEDDS_URI=file:///cyclonedds.xml
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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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- ./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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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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command: >
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/bin/bash
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devices:
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- /dev/dri:/dev/dri
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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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# 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/ttyUSB0
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#- /dev/ttyUSB0:/dev/ttyUSB0
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privileged: true
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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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#- /dev/input/by-id/usb-Logitech_Wireless_Gamepad_F710_56679674-joystick:/dev/input/by-id/usb-Logitech_Wireless_Gamepad_F710_56679674-joystick
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privileged: true
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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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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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# 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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# 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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# 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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# 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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# 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 nav2_bringup bringup_launch.py slam:=True map:=/repo/maps/map.yaml use_sim_time:=False use_composition:=True params_file:=/repo/config/nav2_params.yaml
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#maps/map_openlabday.yaml
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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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# 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 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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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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# Foxglove Studio Webserver
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foxglove:
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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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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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- foxglove_bridge
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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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# 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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### 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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## Configure on ROS1 Hosts
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# seggy 192.168.0.100
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# locally running ros-package: control1
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# subscribing topic2
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# publishing topic1
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# robot2 192.168.x.x
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# locally running ros-package: control2
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# subscribing topic1
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# publishing topic2
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# As we need one ros-master to control the communication, we choose 192.168.1.1 as master. Therefore we execute locally on robot 1:
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# export ROS_MASTER_URI=http://192.168.0.100:11311 # or localhost?
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# export ROS_HOSTNAME=192.168.0.100
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# export ROS_IP=192.168.0.100
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# roscore
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# In order to connect to the ROS-master, we execute locally on robot2:
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# export ROS_MASTER_URI=http://192.1.1.1:11311
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# export ROS_IP=192.168.1.2
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# export ROS_HOSTNAME=192.168.1.2
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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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#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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################################################################################################################################
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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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- ./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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- 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 |