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added compose file to enable the start of dtp and dt on same machine #8
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,246 @@ | ||
| services: | ||
|
|
||
| mosquitto: | ||
| container_name: mqtt-server | ||
| image: eclipse-mosquitto | ||
| ports: | ||
| - 1883:1883 | ||
| volumes: | ||
| - ./config/mqtt:/root/catkin_ws/mosquitto | ||
| command: mosquitto -c /root/catkin_ws/mosquitto/mosquitto.conf -p 1883 | ||
|
|
||
| picarx-dt: | ||
| build: . | ||
| image: ghcr.io/cau-se/arches-picar-x/picarx:${TAG:-latest} | ||
| environment: | ||
| - ROS_HOSTNAME=picarx-dt | ||
| - ROS_MASTER_URI=http://picarx-dt:11313 | ||
| - ROS_HOST_PORT=11313 | ||
| tty: true | ||
| ports: | ||
| - 11313:11313 | ||
| command: roscore -p 11313 | ||
| healthcheck: | ||
| test: [ "CMD-SHELL", "curl $${ROS_MASTER_URI} || exit 1" ] | ||
| interval: 5s | ||
| timeout: 1s | ||
| retries: 5 | ||
| start_period: 1s | ||
|
|
||
| shadow-dt: | ||
| image: ghcr.io/cau-se/arches-picar-x/picarx:${TAG:-latest} | ||
| env_file: | ||
| - ./env/picarx-dt.env | ||
| tty: true | ||
| command: /bin/bash -c "roslaunch arches_core digitalshadow_dt.launch" | ||
| depends_on: | ||
| picarx-dt: | ||
| condition: service_healthy | ||
|
|
||
| mqtt-dt: | ||
| image: ghcr.io/cau-se/arches-picar-x/arches-mqtt-bridge:${TAG:-latest} | ||
| build: | ||
| dockerfile: Dockerfile-arches-mqtt-bridge | ||
| context: ./ros | ||
| args: | ||
| - TAG=${TAG:-latest} | ||
| - ARCH=${ARCH:-} | ||
| env_file: | ||
| - ./env/picarx-dt.env | ||
| tty: true | ||
| command: /bin/bash -c "roslaunch arches_mqtt_bridge dt_client.launch host:=$${MQTT_HOST:-192.168.1.2}" | ||
| depends_on: | ||
| picarx-dt: | ||
| condition: service_healthy | ||
|
|
||
| motor_left-dt: | ||
| build: | ||
| dockerfile: Dockerfile | ||
| context: ./ros/drivers/dcmotor/ | ||
| args: | ||
| - TAG=${TAG:-latest} | ||
| - ARCH=${ARCH:-} | ||
| image: ghcr.io/cau-se/arches-picar-x/drivers/dcmotor:${TAG:-latest} | ||
| env_file: | ||
| - ./env/picarx-dt.env | ||
| tty: true | ||
| privileged: true | ||
| volumes: | ||
| - /sys/class/gpio:/sys/class/gpio | ||
| - ${I2C:-/dev/i2c-0}:${I2C:-/dev/i2c-0} | ||
| - ./core:/root/catkin_ws/src/core | ||
| - ./ros/drivers/dcmotor:/root/catkin_ws/src/drivers/dcmotor | ||
| command: /bin/bash -c "roslaunch picarx_dcmotor_driver dcmotor_left.launch motor1_i2c_port:=$${I2C:-/dev/i2c-0} i2c_address:=21 motor1_direction_pin:=13" | ||
| depends_on: | ||
| picarx-dt: | ||
| condition: service_healthy | ||
|
|
||
| motor_right-dt: | ||
| image: ghcr.io/cau-se/arches-picar-x/drivers/dcmotor:${TAG:-latest} | ||
| tty: true | ||
| env_file: | ||
| - ./env/picarx-dt.env | ||
| privileged: true | ||
| volumes: | ||
| - /sys/class/gpio:/sys/class/gpio | ||
| - ${I2C:-/dev/i2c-0}:${I2C:-/dev/i2c-0} | ||
| - ./core:/root/catkin_ws/src/core | ||
| - ./ros/drivers/dcmotor:/root/catkin_ws/src/drivers/dcmotor | ||
| command: /bin/bash -c "roslaunch picarx_dcmotor_driver dcmotor_right.launch motor2_i2c_port:=$${I2C:-/dev/i2c-0} i2c_address:=21 motor2_direction_pin:=12" | ||
| depends_on: | ||
| picarx-dt: | ||
| condition: service_healthy | ||
|
|
||
| steering-dt: | ||
| image: ghcr.io/cau-se/arches-picar-x/drivers/clutchgear:${TAG:-latest} | ||
| build: | ||
| dockerfile: Dockerfile | ||
| context: ./ros/drivers/clutchgear | ||
| args: | ||
| - TAG=${TAG:-latest} | ||
| - ARCH=${ARCH:-} | ||
| env_file: | ||
| - ./env/picarx-dt.env | ||
| tty: true | ||
| privileged: true | ||
| volumes: | ||
| - /sys/class/gpio:/sys/class/gpio | ||
| - ${I2C:-/dev/i2c-0}:${I2C:-/dev/i2c-0} | ||
| - ./core:/root/catkin_ws/src/core | ||
| - ./ros/drivers/clutchgear:/root/catkin_ws/src/drivers/clutchgear | ||
| command: /bin/bash -c "roslaunch picarx_clutchgear_driver ackermann_clutchgear_driver.launch i2c_port:=$${I2C:-/dev/i2c-0} i2c_address:=21" | ||
| depends_on: | ||
| picarx-dt: | ||
| condition: service_healthy | ||
|
|
||
| ackermann_skill-dt: | ||
| image: ghcr.io/cau-se/arches-picar-x/skills/ackermann:${TAG:-latest} | ||
| build: | ||
| dockerfile: Dockerfile | ||
| context: ./ros/skills/ackermann_drive | ||
| args: | ||
| - TAG=${TAG:-latest} | ||
| - ARCH=${ARCH:-} | ||
| env_file: | ||
| - ./env/picarx-dt.env | ||
| tty: true | ||
| privileged: true | ||
| volumes: | ||
| - /sys/class/gpio:/sys/class/gpio | ||
| - ${I2C:-/dev/i2c-0}:${I2C:-/dev/i2c-0} | ||
| - ./core:/root/catkin_ws/src/core | ||
| - ./ros/skills/ackermann_drive:/root/catkin_ws/src/skills/ackermann_drive | ||
| command: /bin/bash -c "roslaunch picarx_ackermann_drive ackermann_skill.launch" | ||
| depends_on: | ||
| picarx-dt: | ||
| condition: service_healthy | ||
|
|
||
| picarx-dt-gazebo: | ||
| build: | ||
| context: ./simulation | ||
| dockerfile: Dockerfile | ||
| args: | ||
| - TAG=${TAG:-latest} | ||
| - ARCH=${ARCH:-} | ||
| target: desktop | ||
| image: ghcr.io/cau-se/arches-picar-x/picarx-gazebo:${TAG:-latest} | ||
| env_file: | ||
| - ./env/simulation-dt.env | ||
| environment: | ||
| - DISPLAY=$DISPLAY | ||
| - LIBGL_ALWAYS_INDIRECT=0 | ||
| - ROS_HOSTNAME=picarx-dt-gazebo | ||
| - ROS_MASTER_URI=http://picarx-dt-gazebo:11314 | ||
| stdin_open: true | ||
| tty: true | ||
| ports: | ||
| - 11314:11314 | ||
| volumes: | ||
| - ${X11PATH:-/tmp/.X11-unix}:/tmp/.X11-unix | ||
| - ./core:/root/catkin_ws/src/core | ||
| - ./simulation:/root/catkin_ws/src/simulation | ||
| command: /bin/bash -c "roslaunch picarx_gazebo picarx-world.launch" | ||
| healthcheck: | ||
| test: [ "CMD-SHELL", "curl $${ROS_MASTER_URI} || exit 1" ] | ||
| interval: 5s | ||
| timeout: 1s | ||
| retries: 5 | ||
| start_period: 1s | ||
|
|
||
| picarx-dt-gazebo-control: | ||
| image: ghcr.io/cau-se/arches-picar-x/picarx-gazebo:${TAG:-latest} | ||
| env_file: | ||
| - ./env/simulation-dt.env | ||
| tty: true | ||
| volumes: | ||
| - ./core:/root/catkin_ws/src/core | ||
| - ./simulation:/root/catkin_ws/src/simulation | ||
| command: /bin/bash -c "roslaunch picarx_control picarx_control.launch" | ||
| restart: on-failure | ||
| depends_on: | ||
| picarx-dt-gazebo: | ||
| condition: service_healthy | ||
|
|
||
| motor_emulator_left-dt: | ||
| image: ghcr.io/cau-se/arches-picar-x/emulators/dcmotor:${TAG:-latest} | ||
| build: | ||
| dockerfile: Dockerfile | ||
| context: ./ros/emulators/dcmotor | ||
| args: | ||
| - TAG=${TAG:-latest} | ||
| - ARCH=${ARCH:-} | ||
| env_file: | ||
| - ./env/simulation-dt.env | ||
| tty: true | ||
| privileged: true | ||
| volumes: | ||
| - /sys/class/gpio:/sys/class/gpio | ||
| - ${I2C:-/dev/i2c-0}:${I2C:-/dev/i2c-0} | ||
| - ./core:/root/catkin_ws/src/core | ||
| - ./ros/emulators/dcmotor:/root/catkin_ws/src/emulators/dcmotor | ||
| command: /bin/bash -c "roslaunch picarx_dcmotor_emulator dcmotor_emulator_left.launch i2c_port:=$${I2C:-/dev/i2c-0} i2c_address:=21 direction_pin:=13" | ||
| depends_on: | ||
| picarx-dt-gazebo: | ||
| condition: service_healthy | ||
|
|
||
| motor_emulator_right-dt: | ||
| image: ghcr.io/cau-se/arches-picar-x/emulators/dcmotor:${TAG:-latest} | ||
| env_file: | ||
| - ./env/simulation-dt.env | ||
| tty: true | ||
| privileged: true | ||
| volumes: | ||
| - /sys/class/gpio:/sys/class/gpio | ||
| - ${I2C:-/dev/i2c-0}:${I2C:-/dev/i2c-0} | ||
| - ./core:/root/catkin_ws/src/core | ||
| - ./ros/emulators/dcmotor:/root/catkin_ws/src/emulators/dcmotor | ||
| command: /bin/bash -c "roslaunch picarx_dcmotor_emulator dcmotor_emulator_right.launch i2c_port:=$${I2C:-/dev/i2c-0} i2c_address:=21 direction_pin:=12" | ||
| depends_on: | ||
| picarx-dt-gazebo: | ||
| condition: service_healthy | ||
|
|
||
| steering_emulator-dt: | ||
| image: ghcr.io/cau-se/arches-picar-x/emulators/clutchgear:${TAG:-latest} | ||
| build: | ||
| dockerfile: Dockerfile | ||
| context: ./ros/emulators/clutchgear | ||
| args: | ||
| - TAG=${TAG:-latest} | ||
| - ARCH=${ARCH:-} | ||
| env_file: | ||
| - ./env/simulation-dt.env | ||
| tty: true | ||
| privileged: true | ||
| volumes: | ||
| - /sys/class/gpio:/sys/class/gpio | ||
| - ${I2C:-/dev/i2c-0}:${I2C:-/dev/i2c-0} | ||
| - ./core:/root/catkin_ws/src/core | ||
| - ./ros/emulators/clutchgear:/root/catkin_ws/src/emulators/clutchgear | ||
| command: /bin/bash -c "roslaunch picarx_clutchgear_emulator ackermann_clutchgear_emulator.launch i2c_port:=$${I2C:-/dev/i2c-0} i2c_address:=21" | ||
| depends_on: | ||
| picarx-dt-gazebo: | ||
| condition: service_healthy | ||
|
|
||
| networks: | ||
| picarx: | ||
| external: true |