70 lines
2.7 KiB
YAML
70 lines
2.7 KiB
YAML
networks:
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pc: # config for this pc. Only required for running the containers locally on the pc. For instance rviz2 or guis with gazebo.
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driver: macvlan
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driver_opts:
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parent: wlx00e04c5513fc # pc network interface: here my wifi card. Can be found with ifconfig.
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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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services:
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# rviz2
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rviz2:
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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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# 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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# pc:
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# ipv4_address: 192.168.0.201 #here need to set fixed ip to avoid collissions with other containers on robot.
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rviz2-depthai:
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image: luxonis/depthai-ros:humble-latest
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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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# 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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# pc:
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# ipv4_address: 192.168.0.201 #here need to set fixed ip to avoid collissions with other containers on robot. |