forked from Gastd/morse_simulation
/
exp_1_trial_1.yaml
245 lines (245 loc) · 8.02 KB
/
exp_1_trial_1.yaml
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networks:
morsegatonet:
driver: bridge
ipam:
config:
- subnet: 10.2.0.0/16
driver: default
services:
master:
build:
context: ./docker
dockerfile: Dockerfile.app
command: /bin/bash -c "source /ros_ws/devel/setup.bash && roslaunch src/hos/server.launch"
container_name: master
networks:
morsegatonet:
ipv4_address: 10.2.0.5
morse:
build:
context: ./docker
dockerfile: Dockerfile.app
command: /bin/bash -c "source /ros_ws/devel/setup.bash && Xvfb -screen 0 100x100x24
:2 & DISPLAY=:2 morse run morse_hospital_sim"
container_name: morse
depends_on:
- master
devices:
- /dev/dri
- /dev/snd
env_file:
- /home/gastd/git/morse_simulation/sim.env
environment:
- ROS_HOSTNAME=morse
- ROS_MASTER_URI=http://master:11311
- QT_X11_NO_MITSHM=1
expose:
- '8081'
- '3000'
- '3001'
networks:
- morsegatonet
runtime: nvidia
tty: true
volumes:
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- ~/.config/pulse/cookie:/root/.config/pulse/cookie
- ./docker/hmrs_hostpital_simulation/morse_hospital_sim:/ros_ws/morse_hospital_sim
motion_ctrl1:
build:
context: ./docker
dockerfile: Dockerfile.motion
command: /bin/bash -c "source /ros_ws/devel/setup.bash && roslaunch motion_ctrl
base_navigation.launch"
container_name: motion_ctrl1
depends_on:
- master
env_file:
- /home/gastd/git/morse_simulation/sim.env
environment:
- ROS_HOSTNAME=motion_ctrl1
- ROS_MASTER_URI=http://motion_ctrl1:11311
- ROBOT_NAME=turtlebot1
networks:
- morsegatonet
ports:
- 9090:9090
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/
motion_ctrl2:
build:
context: ./docker
dockerfile: Dockerfile.motion
command: /bin/bash -c "source /ros_ws/devel/setup.bash && roslaunch motion_ctrl
base_navigation.launch"
container_name: motion_ctrl2
depends_on:
- master
env_file:
- /home/gastd/git/morse_simulation/sim.env
environment:
- ROS_HOSTNAME=motion_ctrl2
- ROS_MASTER_URI=http://motion_ctrl2:11311
- ROBOT_NAME=turtlebot2
networks:
- morsegatonet
ports:
- 9090:9090
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/
motion_ctrl3:
build:
context: ./docker
dockerfile: Dockerfile.motion
command: /bin/bash -c "source /ros_ws/devel/setup.bash && roslaunch motion_ctrl
base_navigation.launch"
container_name: motion_ctrl3
depends_on:
- master
env_file:
- /home/gastd/git/morse_simulation/sim.env
environment:
- ROS_HOSTNAME=motion_ctrl3
- ROS_MASTER_URI=http://motion_ctrl3:11311
- ROBOT_NAME=turtlebot3
networks:
- morsegatonet
ports:
- 9090:9090
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/
py_trees1:
build:
context: ./docker
dockerfile: Dockerfile.pytrees
container_name: py_trees1
depends_on:
- motion_ctrl1
env_file:
- /home/gastd/git/morse_simulation/sim.env
environment:
- ROS_HOSTNAME=py_trees1
- ROS_MASTER_URI=http://motion_ctrl1:11311
- ROBOT_NAME=turtlebot1
- SKILLS=['approach_person', 'approach_robot', 'authenticate_person', 'deposit',
'navigation', 'operate_drawer', 'pick_up']
- 'ROBOT_CONFIG={"avg_speed": 0.8, "battery_consumption_rate": 0.0024000000000000002,
"battery_level": 0.64, "id": 0, "local_plan": [["navigation", ["IC Room 1",
[[-28.5, 18.0, -1.57], [-19, 16], [-37, 15], [-39.44, 33.98, 0.0]]]], ["approach_person",
["nurse"]], ["authenticate_person", ["nurse"]], ["operate_drawer", ["open"]],
["send_message", ["nurse"]], ["wait_message", ["r1"]], ["operate_drawer", ["close"]],
["navigation", ["Pharmacy", [[-39.44, 33.98, 0.0], [-37, 15], [-19, 16], [0,
8], [-2, 2.6]]]], ["approach_robot", ["lab_arm"]], ["operate_drawer", ["open"]],
["send_message", ["lab_arm"]], ["wait_message", ["r1"]], ["operate_drawer",
["close"]]], "location": "PC Room 1", "position": [-28.5, 18.0, -1.57], "skills":
["approach_person", "approach_robot", "authenticate_person", "deposit", "navigation",
"operate_drawer", "pick_up"]}'
networks:
- 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/
py_trees2:
build:
context: ./docker
dockerfile: Dockerfile.pytrees
container_name: py_trees2
depends_on:
- motion_ctrl2
env_file:
- /home/gastd/git/morse_simulation/sim.env
environment:
- ROS_HOSTNAME=py_trees2
- ROS_MASTER_URI=http://motion_ctrl2:11311
- ROBOT_NAME=turtlebot2
- SKILLS=['approach_person', 'approach_robot', 'authenticate_person', 'deposit',
'navigation', 'operate_drawer', 'pick_up']
- 'ROBOT_CONFIG={"avg_speed": 0.8, "battery_consumption_rate": 0.0028, "battery_level":
0.53, "id": 1, "local_plan": null, "location": "PC Room 7", "position": [-4,
18, -1.57], "skills": ["approach_person", "approach_robot", "authenticate_person",
"deposit", "navigation", "operate_drawer", "pick_up"]}'
networks:
- 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/
py_trees3:
build:
context: ./docker
dockerfile: Dockerfile.pytrees
container_name: py_trees3
depends_on:
- motion_ctrl3
env_file:
- /home/gastd/git/morse_simulation/sim.env
environment:
- ROS_HOSTNAME=py_trees3
- ROS_MASTER_URI=http://motion_ctrl3:11311
- ROBOT_NAME=turtlebot3
- SKILLS=['approach_person', 'approach_robot', 'authenticate_person', 'deposit',
'navigation', 'pick_up']
- 'ROBOT_CONFIG={"avg_speed": 0.8, "battery_consumption_rate": 0.0013000000000000002,
"battery_level": 0.45, "id": 2, "local_plan": null, "location": "PC Room 6",
"position": [-11.5, 18, -1.57], "skills": ["approach_person", "approach_robot",
"authenticate_person", "deposit", "navigation", "pick_up"]}'
networks:
- 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/
ros1_bridge:
build:
context: ./docker
dockerfile: Dockerfile.pytrees
command: /bin/bash -c "source /opt/ros/noetic/setup.bash && ros2 run ros1_bridge
dynamic_bridge --bridge-all-topics "
container_name: ros1_bridge
depends_on:
- master
env_file:
- /home/gastd/git/morse_simulation/sim.env
environment:
- ROS_HOSTNAME=ros1_bridge
- ROS_MASTER_URI=http://master:11311
networks:
- 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
version: '2.3'