ARCHES-PiCar-X/PiCar-X/docker-compose-dtp-headless-gazebo.yml at main · cau-se/ARCHES-PiCar-X · GitHub

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services:
  picarx-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.env
    environment:
      - DISPLAY=host.docker.internal:0.0
      - LIBGL_ALWAYS_INDIRECT=0
      - ROS_HOSTNAME=picarx-gazebo
      - ROS_MASTER_URI=http://picarx-gazebo:11312
    tty: true
    ports:
      - 11312:11312
    volumes:
      - ./core:/root/catkin_ws/src/core
      - ./simulation:/root/catkin_ws/src/simulation
    command: /bin/bash -c "roslaunch picarx_gazebo picarx-world.launch headless:=true"
    healthcheck:
      test: [ "CMD-SHELL", "curl $${ROS_MASTER_URI} || exit 1" ]
      interval: 5s
      timeout: 1s
      retries: 5
      start_period: 1s

  picarx-gazebo-control:
    image: ghcr.io/cau-se/arches-picar-x/picarx-gazebo:${TAG:-latest}
    env_file:
      - ./env/simulation.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-gazebo:
        condition: service_healthy


  shadow-dtp:
    image: ghcr.io/cau-se/arches-picar-x/picarx:${TAG:-latest}
    env_file:
      - ./env/simulation.env
    tty: true
    command: /bin/bash -c "roslaunch arches_core digitalshadow_pt.launch"
    restart: on-failure
    depends_on:
      picarx-gazebo:
        condition: service_healthy

  mqtt-dtp:
    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/simulation.env
    tty: true
    command: /bin/bash -c "roslaunch arches_mqtt_bridge pt_client.launch host:=$${MQTT_HOST:-192.168.1.2}"
    restart: on-failure
    depends_on:
      picarx-gazebo:
        condition: service_healthy

  motor_left-dtp:
    image: ghcr.io/cau-se/arches-picar-x/drivers/dcmotor:${TAG:-latest}
    build:
      dockerfile: Dockerfile
      context: ./ros/drivers/dcmotor/
      args:
        - TAG=${TAG:-latest}
        - ARCH=${ARCH:-}
    env_file:
      - ./env/simulation.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}"
    restart: on-failure
    depends_on:
      picarx-gazebo:
        condition: service_healthy

  motor_right-dtp:
    image: ghcr.io/cau-se/arches-picar-x/drivers/dcmotor:${TAG:-latest}
    tty: true
    env_file:
      - ./env/simulation.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}"
    restart: on-failure
    depends_on:
      picarx-gazebo:
        condition: service_healthy

  steering-dtp:
    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/simulation.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}"
    depends_on:
      picarx-gazebo:
        condition: service_healthy

  ackermann_skill-dtp:
    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/simulation.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-gazebo:
        condition: service_healthy

  motor_emulator_left-dtp:
    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.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}"
    depends_on:
      picarx-gazebo:
        condition: service_healthy

  motor_emulator_right-dtp:
    image: ghcr.io/cau-se/arches-picar-x/emulators/dcmotor:${TAG:-latest}
    env_file:
      - ./env/simulation.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}"

    depends_on:
      picarx-gazebo:
        condition: service_healthy

  steering_emulator-dtp:
    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.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}"
    depends_on:
      picarx-gazebo:
        condition: service_healthy

networks:
  picarx:
    external: true