/
docker-compose.yaml
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docker-compose.yaml
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version: "2.3"
services:
morse:
build:
context: ./docker
dockerfile: Dockerfile.app
# image: my_melodic_image
runtime: nvidia
container_name: morse
depends_on:
- master
devices:
- "/dev/dri"
- "/dev/snd"
env_file:
- .env
environment:
- "ROS_HOSTNAME=morse"
- "ROS_MASTER_URI=http://master:11311"
- "QT_X11_NO_MITSHM=1"
- "DISPLAY=$DISPLAY"
- "XAUTHORITY=$XAUTH"
- "QT_GRAPHICSSYSTEM=native"
- "PULSE_SERVER=unix:${XDG_RUNTIME_DIR}/pulse/native"
volumes:
- /tmp/.docker.xauth:/tmp/.docker.xauth:rw
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- /var/run/dbus:/var/run/dbus:ro
- /etc/machine-id:/etc/machine-id:ro
- ${XDG_RUNTIME_DIR}/pulse/native:${XDG_RUNTIME_DIR}/pulse/native
- ~/.config/pulse/cookie:/root/.config/pulse/cookie
- ./docker/hmrs_hostpital_simulation/morse_hospital_sim:/ros_ws/morse_hospital_sim
expose:
- "8081"
- "3000"
- "3001"
# command: /bin/bash -c "source /ros_ws/devel/setup.bash && morse run morse_hospital_sim"
# command:
# - roslaunch rosbridge_server rosbridge_websocket.launch --wait
# - rosrun tf2_web_republisher tf2_web_republisher
# - /bin/bash -c "source /ros_ws/devel/setup.bash && Xvfb -screen 0 100x100x24 :2 & DISPLAY=:2 morse run morse_hospital_sim"
# command: rosrun tf2_web_republisher tf2_web_republisher
# command:
command: /bin/bash -c "source /ros_ws/devel/setup.bash && Xvfb -screen 0 100x100x24 :2 & DISPLAY=:2 morse run morse_hospital_sim"
# command: /bin/bash -c "source /ros_ws/devel/setup.bash && morse run morse_hospital_sim"
# command: /bin/bash -c "source /ros_ws/devel/setup.bash && Xvfb -screen 0 1024x768x24 :2 & DISPLAY=:2 morse run morse_hospital_sim"
# command: /bin/bash -c "source /ros_ws/devel/setup.bash && Xvfb -screen 0 100x100x24 :2 & DISPLAY=:2 morse run morse_hospital_sim"
tty: true
# privileged: true
networks:
- morsesimnet
master:
build:
context: ./docker
dockerfile: Dockerfile.motion
container_name: master
environment:
- 'ROBOTS_CONFIG=[{"avg_speed": 0.15, "battery_charge": 0.22, "battery_discharge_rate":
0.00011, "id": 0, "local_plan": null, "location": "IC Room 4", "position": [-39.44,
33.95, 0.0], "skills": ["approach_person", "approach_robot", "authenticate_person",
"deposit", "navigation", "operate_drawer", "pick_up"]}, {"avg_speed": 0.15,
"battery_charge": 0.56, "battery_discharge_rate": 0.0001, "id": 1, "local_plan":
null, "location": "PC Room 5", "position": [-21.0, 18.0, -1.57], "skills": ["approach_person",
"approach_robot", "authenticate_person", "deposit", "navigation", "operate_drawer",
"pick_up"]}, {"avg_speed": 0.15, "battery_charge": 0.55, "battery_discharge_rate":
0.00015000000000000001, "id": 2, "local_plan": null, "location": "PC Room 4",
"position": [-27.23, 18.0, -1.57], "skills": ["approach_person", "approach_robot",
"authenticate_person", "deposit", "navigation", "operate_drawer", "pick_up"]},
{"avg_speed": 0.15, "battery_charge": 0.44, "battery_discharge_rate": 0.00019,
"id": 3, "local_plan": null, "location": "PC Room 3", "position": [-28.5, 18.0,
-1.57], "skills": ["approach_person", "approach_robot", "authenticate_person",
"deposit", "navigation", "pick_up"]}, {"avg_speed": 0.15, "battery_charge":
0.15, "battery_discharge_rate": 0.00014000000000000001, "id": 4, "local_plan":
[["navigation", ["IC Room 6", [[-40.23, 25.37, 0.0], [-37.0, 25.37], [-37.0,
18.93], [-33.9, 18.93, 3.14]]]], ["approach_person", ["nurse"]], ["authenticate_person",
["nurse"]], ["operate_drawer", ["open"]], ["send_message", ["nurse"]], ["wait_message",
["r1"]], ["operate_drawer", ["close"]], ["navigation", ["Laboratory", [[-33.9,
18.93, 3.14], [-37.0, 18.93], [-37.0, 16.0], [-26.0, 16.0], [-26.0, 13.0, 1.57]]]],
["approach_robot", ["lab_arm"]], ["operate_drawer", ["open"]], ["send_message",
["lab_arm"]], ["wait_message", ["r1"]], ["operate_drawer", ["close"]]], "location":
"IC Room 3", "position": [-40.23, 25.37, 0.0], "skills": ["approach_person",
"approach_robot", "authenticate_person", "deposit", "navigation", "operate_drawer",
"pick_up"]}]'
- 'NURSES_CONFIG=[{"location": "IC Room 6", "position": [-31.9, 20.93, 3.14]}]'
volumes:
- ./docker/motion_ctrl:/ros_ws/src/motion_ctrl/
- ./log/:/root/.ros/logger_sim/
command: /bin/bash -c "source /ros_ws/devel/setup.bash && roslaunch src/motion_ctrl/launch/log.launch"
networks:
morsesimnet:
ipv4_address: 10.6.0.5
motion_ctrl:
build:
context: ./docker
dockerfile: Dockerfile.motion
container_name: motion_ctrl
depends_on:
- master
env_file:
- /home/gastd/git/morse_simulation/sim.env
environment:
- ROS_HOSTNAME=motion_ctrl
- ROS_MASTER_URI=http://master:11311
- ROBOT_NAME=turtlebot1
networks:
- morsegatonet
privileged: true
runtime: runc
tty: true
volumes:
- ./docker/motion_ctrl:/ros_ws/src/motion_ctrl/
- ./docker/turtlebot3_hospital_sim:/ros_ws/src/turtlebot3_hospital_sim/
- ./log/:/root/.ros/logger_sim/
command: /bin/bash -c "source /ros_ws/devel/setup.bash && roslaunch motion_ctrl base_navigation.launch --wait"
networks:
morsesimnet:
ipv4_address: 10.6.0.6
# rosrun gmapping slam_gmapping scan:=/turtlebot1/lidar
# rosbridge:
# build:
# context: ./docker
# dockerfile: Dockerfile.rosbridge
# tty: true
# command: /bin/bash -c "source /opt/ros/melodic/setup.bash && roslaunch --wait rosbridge_server rosbridge_websocket.launch --wait"
# environment:
# - "ROS_MASTER_URI=http://master:11311"
# depends_on:
# - motion_ctrl
# links:
# - motion_ctrl
# ports:
# - "9090:9090"
# networks:
# morsesimnet:
# ipv4_address: 10.6.0.106
# webviz:
# image: cruise/webviz
# ports:
# - "8080:8080"
# depends_on:
# - motion_ctrl
# # http://10.6.0.12:8080/?rosbridge-websocket-url=ws://10.6.0.106:9090
# # http://10.6.0.12:8080/?rosbridge-websocket-url=ws://10.6.0.6:9090&layout-url=/home/gastd/Downloads/layout.json
# networks:
# morsesimnet:
# ipv4_address: 10.6.0.12
rviz:
build:
context: ./docker
dockerfile: Dockerfile.app
# image: my_melodic_image
runtime: nvidia
depends_on:
- master
# - morse
# - motion_ctrl
devices:
- "/dev/dri"
- "/dev/snd"
environment:
- "ROS_HOSTNAME=rviz"
- "ROS_MASTER_URI=http://master:11311"
- "QT_X11_NO_MITSHM=1"
- "DISPLAY=$DISPLAY"
# - "XAUTHORITY=$XAUTH"
- "QT_GRAPHICSSYSTEM=native"
- "PULSE_SERVER=unix:${XDG_RUNTIME_DIR}/pulse/native"
volumes:
- ./log/25-05/:/root/.ros/logger_sim/
- "$HOME/.Xauthority:/root/.Xauthority:rw"
- /tmp/.docker.xauth:/tmp/.docker.xauth:rw
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- /var/run/dbus:/var/run/dbus:ro
- /etc/machine-id:/etc/machine-id:ro
- ${XDG_RUNTIME_DIR}/pulse/native:${XDG_RUNTIME_DIR}/pulse/native
- ~/.config/pulse/cookie:/root/.config/pulse/cookie
- ./docker/motion_ctrl/launch/simulation.rviz:/ros_ws/src/hos/simulation.rviz
expose:
- "8081"
- "3000"
- "3001"
command: /bin/bash -c "source /ros_ws/devel/setup.bash && export ROS_NAMESPACE=/turtlebot1 && rosparam set /use_sim_time true && rviz -d /ros_ws/src/hos/simulation.rviz"
tty: true
privileged: true
# network_mode: host
# links:
# - motion_ctrl
networks:
- morsesimnet
# motion_ctrl2:
# build:
# context: ./docker
# dockerfile: Dockerfile.motion
# container_name: motion_ctrl2
# depends_on:
# - master
# volumes:
# - ./docker/motion_ctrl:/ros_ws/src/motion_ctrl/
# - ./docker/turtlebot3_hospital_sim:/ros_ws/src/turtlebot3_hospital_sim/
# environment:
# - "ROS_HOSTNAME=motion_ctrl2"
# - "ROS_MASTER_URI=http://master:11311"
# - "ROBOT_NAME=turtlebot2"
# env_file:
# - .env
# command: /bin/bash -c "source /ros_ws/devel/setup.bash && roslaunch motion_ctrl base_navigation.launch --wait"
# tty: true
# networks:
# morsesimnet:
# ipv4_address: 10.6.0.7
pytree_test1:
build:
context: ./docker
dockerfile: Dockerfile.pytrees
command: /bin/bash -c "colcon build && source /ros_ws/install/setup.bash && ros2
launch py_trees_ros_behaviors tutorial_seven_docking_cancelling_failing_launch.py"
container_name: pytree_test1
depends_on:
- motion_ctrl
env_file:
- /home/gastd/git/morse_simulation/sim.env
environment:
- ROS_HOSTNAME=pytree_test1
- ROS_MASTER_URI=http://master:11311
- ROBOT_NAME=turtlebot1
- SKILLS=['approach_person', 'approach_robot', 'authenticate_person', 'deposit', 'navigation', 'operate_drawer', 'pick_up']
- 'ROBOT_CONFIG={"avg_speed": 0.15, "battery_charge": 0.15, "battery_discharge_rate":
0.00014000000000000001, "id": 4, "local_plan": [["navigation", ["IC Room 6",
[[-40.23, 25.37, 0.0], [-37.0, 25.37], [-37.0, 18.93], [-33.9, 18.93, 3.14]]]],
["approach_person", ["nurse"]], ["authenticate_person", ["nurse"]], ["operate_drawer",
["open"]], ["send_message", ["nurse"]], ["wait_message", ["r1"]], ["operate_drawer",
["close"]], ["navigation", ["Laboratory", [[-33.9, 18.93, 3.14], [-37.0, 18.93],
[-37.0, 16.0], [-26.0, 16.0], [-26.0, 13.0, 1.57]]]], ["approach_robot", ["lab_arm"]],
["operate_drawer", ["open"]], ["send_message", ["lab_arm"]], ["wait_message",
["r1"]], ["operate_drawer", ["close"]]], "location": "IC Room 3", "position":
[-40.23, 25.37, 0.0], "skills": ["approach_person", "approach_robot", "authenticate_person",
"deposit", "operate_drawer", "pick_up"]}'
- morsegatonet
runtime: runc
tty: true
volumes:
- /tmp/.docker.xauth:/tmp/.docker.xauth:rw
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- /var/run/dbus:/var/run/dbus:ro
- /etc/machine-id:/etc/machine-id:ro
- ${XDG_RUNTIME_DIR}/pulse/native:${XDG_RUNTIME_DIR}/pulse/native
- ~/.config/pulse/cookie:/root/.config/pulse/cookie
- ./docker/py_trees_ros_behaviors:/ros_ws/src/py_trees_ros_behaviors/
networks:
morsesimnet:
ipv4_address: 10.6.0.8
pytree_bridge:
build:
context: ./docker
dockerfile: Dockerfile.pytrees
container_name: pytree_bridge
runtime: runc
depends_on:
- motion_ctrl
env_file:
- .env
devices:
- "/dev/dri"
- "/dev/snd"
environment:
- "ROS_HOSTNAME=pytree_bridge"
- "ROS_MASTER_URI=http://master:11311"
- "QT_X11_NO_MITSHM=1"
- "DISPLAY=$DISPLAY"
- "XAUTHORITY=$XAUTH"
- "QT_GRAPHICSSYSTEM=native"
- "PULSE_SERVER=unix:${XDG_RUNTIME_DIR}/pulse/native"
- "ROBOT_NAME=turtlebot1"
volumes:
- /tmp/.docker.xauth:/tmp/.docker.xauth:rw
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- /var/run/dbus:/var/run/dbus:ro
- /etc/machine-id:/etc/machine-id:ro
- ${XDG_RUNTIME_DIR}/pulse/native:${XDG_RUNTIME_DIR}/pulse/native
- ~/.config/pulse/cookie:/root/.config/pulse/cookie
- ./docker/bridge/bridge.py:/ros_ws/src/bridge.py
- ./docker/py_trees_ros_behaviors:/ros_ws/src/py_trees_ros_behaviors/
# command: /bin/bash -c "source /ros_ws/install/setup.bash && ros2 topic pub /std_out std_msgs/msg/String data:\ \'HelloWorld\'\ "
command: /bin/bash -c "source /opt/ros/noetic/setup.bash && ros2 run ros1_bridge dynamic_bridge --bridge-all-topics "
tty: true
networks:
- morsesimnet
# pytree_test2:
# build:
# context: ./docker
# dockerfile: Dockerfile.pytrees
# container_name: pytree_test2
# runtime: runc
# depends_on:
# - motion_ctrl
# env_file:
# - .env
# devices:
# - "/dev/dri"
# - "/dev/snd"
# environment:
# - "ROS_HOSTNAME=pytree_test2"
# - "ROS_MASTER_URI=http://master:11311"
# - "QT_X11_NO_MITSHM=1"
# - "DISPLAY=$DISPLAY"
# - "XAUTHORITY=$XAUTH"
# - "QT_GRAPHICSSYSTEM=native"
# - "PULSE_SERVER=unix:${XDG_RUNTIME_DIR}/pulse/native"
# - "ROBOT_NAME=turtlebot1"
# volumes:
# - /tmp/.docker.xauth:/tmp/.docker.xauth:rw
# - /tmp/.X11-unix:/tmp/.X11-unix:rw
# - /var/run/dbus:/var/run/dbus:ro
# - /etc/machine-id:/etc/machine-id:ro
# - ${XDG_RUNTIME_DIR}/pulse/native:${XDG_RUNTIME_DIR}/pulse/native
# - ~/.config/pulse/cookie:/root/.config/pulse/cookie
# - ./docker/py_trees_ros_behaviors:/ros_ws/src/py_trees_ros_behaviors/
# # command: /bin/bash -c "source /ros_ws/install/setup.bash && ros2 topic pub /std_out std_msgs/msg/String data:\ \'HelloWorld\'\ "
# # command: python3 /ros_ws/src/bridge.py
# # command: /bin/bash -c "source /opt/ros/noetic/setup.bash && ros2 run ros1_bridge dynamic_bridge --bridge-all-topics "
# tty: true
# networks:
# - morsesimnet
networks:
morsesimnet:
driver: bridge
ipam:
driver: default
config:
- subnet: 10.6.0.0/16
# hostnet:
# name: host
# external: true