ARCHES-PiCar-X/PiCar-X/docker-compose-dtp-no-gazebo.yml at main · cau-se/ARCHES-PiCar-X · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
services:
  picarx:
    image: ghcr.io/cau-se/arches-picar-x/picarx:${TAG:-latest}
    environment:
      - ROS_HOSTNAME=picarx
      - ROS_MASTER_URI=http://picarx:11311
      - ROS_HOST_PORT=11311
    tty: true
    ports:
      - 11311:11311
    command: roscore
    restart: on-failure
    healthcheck:
      test: [ "CMD-SHELL", "curl $${ROS_MASTER_URI} || exit 1" ]
      interval: 5s
      timeout: 1s
      retries: 5
      start_period: 1s

  picarx-gazebo:
    image: ghcr.io/cau-se/arches-picar-x/picarx:${TAG:-latest}
    environment:
      - ROS_HOSTNAME=picarx-gazebo
      - ROS_MASTER_URI=http://picarx-gazebo:11312
      - ROS_HOST_PORT=11312
    env_file:
      - ./env/simulation.env
    tty: true
    ports:
      - 11312:11312
    command: roscore -p 11312 # launching ros master only instead of gazebo gui
    restart: on-failure
    healthcheck:
      test: [ "CMD-SHELL", "curl $${ROS_MASTER_URI} || exit 1" ]
      interval: 5s
      timeout: 1s
      retries: 5
      start_period: 1s

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

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

  motor_left-dtp:
    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.env
    tty: true
    privileged: true
    volumes:
      - /sys/class/gpio:/sys/class/gpio
      - /dev/gpiochip0:/dev/gpiochip0
      - ${I2C:-/dev/i2c-0}:${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}"
    depends_on:
      picarx:
        condition: service_healthy
    restart: on-failure

  motor_right-dtp:
    image: ghcr.io/cau-se/arches-picar-x/drivers/dcmotor:${TAG:-latest}
    tty: true
    env_file:
      - ./env/picarx.env
    privileged: true
    volumes:
      - /sys/class/gpio:/sys/class/gpio
      - /dev/gpiochip0:/dev/gpiochip0
      - ${I2C:-/dev/i2c-0}:${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}"
    depends_on:
      picarx:
        condition: service_healthy
    restart: on-failure

  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/picarx.env
    tty: true
    privileged: true
    volumes:
      - /sys/class/gpio:/sys/class/gpio
      - /dev/gpiochip0:/dev/gpiochip0
      - ${I2C:-/dev/i2c-0}:${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:
        condition: service_healthy
    restart: on-failure

  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/picarx.env
    tty: true
    privileged: true
    volumes:
      - /sys/class/gpio:/sys/class/gpio
      - /dev/gpiochip0:/dev/gpiochip0
      - ${I2C:-/dev/i2c-0}:${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:
        condition: service_healthy
    restart: on-failure

  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
      - /dev/gpiochip0:/dev/gpiochip0
      - ${I2C:-/dev/i2c-0}:${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
    restart: on-failure

  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
      - /dev/gpiochip0:/dev/gpiochip0
      - ${I2C:-/dev/i2c-0}:${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
    restart: on-failure

  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
      - /dev/gpiochip0:/dev/gpiochip0
      - ${I2C:-/dev/i2c-0}:${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
    restart: on-failure

networks:
  picarx:
    external: true