docker-compose-mapping.yaml

# Copyright (c) 2021  IBM Corporation
#
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services:
  mapping:
    extends:
      file: cabot-navigation/docker-compose-common.yaml
      service: localization-base
    environment:
      - DISPLAY
      - XAUTHORITY=/tmp/.docker.xauth
      - NVIDIA_DRIVER_CAPABILITIES=compute,graphics,utility,video,display
      - NVIDIA_VISIBLE_DEVICES=all
      - OUTPUT_PREFIX
      - RUN_CARTOGRAPHER=${RUN_CARTOGRAPHER:-true}
      - USE_XSENS
      - USE_ESP32
      - USE_ARDUINO
      - LIDAR_MODEL
      - CABOT_MODEL
      - PLAYBAG_RATE_CARTOGRAPHER
      - PLAYBAG_RATE_PC2_CONVERT
      # ROS2/DDS
      - ROS_LOG_DIR
      - RMW_IMPLEMENTATION
      - ROS_DOMAIN_ID
      - ROS_LOCALHOST_ONLY
      - CYCLONEDDS_URI
      - CYCLONEDDS_NETWORK_INTERFACE_NAME
      - CYCLONEDDS_NETWORK_INTERFACE_AUTODETERMINE
      # production
      - CABOT_GAZEBO=0
      - CABOT_USE_SIM_TIME=0
      # ntrip client
      - NTRIP_CLIENT # rtklib, str2str_node, or ntrip_client
      - NTRIP_CLIENT_START_AT_LAUNCH=${NTRIP_CLIENT_START_AT_LAUNCH:-0}
      - GNSS_NODE_START_AT_LAUNCH=${GNSS_NODE_START_AT_LAUNCH:-1}
      - NTRIP_HOST
      - NTRIP_PORT=${NTRIP_PORT:-2101}
      - NTRIP_MOUNTPOINT
      - NTRIP_AUTHENTIFICATE
      - NTRIP_USERNAME
      - NTRIP_PASSWORD
      - NTRIP_STR2STR_RELAY_BACK=${NTRIP_STR2STR_RELAY_BACK:-0}
    volumes:
      - /dev:/dev
      - /sys/devices:/sys/devices
      - /var/lib/bluetooth:/var/lib/bluetooth
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - /tmp/.docker.xauth:/tmp/.docker.xauth
      # home
      - ./docker/home:/home/developer
      # code
      - ./cabot-navigation/cabot_sites:/home/developer/mapping_ws/src/cabot_sites
      - ./cabot-common/cabot_common:/home/developer/mapping_ws/src/cabot_common # log_redirector
      - ./cabot-common/cabot_msgs:/home/developer/mapping_ws/src/cabot_msgs # cabot_common dependency
      - ./cabot-description/cabot_description:/home/developer/mapping_ws/src/cabot_description  # robot model
      - ./cabot-drivers/cabot_base:/home/developer/mapping_ws/src/cabot_base  # hesai_lidar
      - ./cabot-drivers/cabot_serial:/home/developer/mapping_ws/src/cabot_serial
      - ./cabot-navigation/cabot_mf_localization:/home/developer/mapping_ws/src/cabot_mf_localization
      - ./cabot-navigation/mf_localization:/home/developer/mapping_ws/src/mf_localization
      - ./cabot-navigation/mf_localization_mapping:/home/developer/mapping_ws/src/mf_localization_mapping
      - ./cabot-drivers/wireless_scanner_ros:/home/developer/mapping_ws/src/wireless_scanner_ros
# bridge - if DDS use shared memory
      - /dev/shm:/dev/shm
    privileged: true
    devices:
      - /dev/dri
    cap_add:
      - SYS_ADMIN
      - NET_ADMIN
    network_mode: host
    tty: true
    stdin_open: true
    working_dir: /home/developer/mapping_ws
    command: /launch.sh mapping -C -X

  diagnostic:
    extends:
      file: cabot-navigation/docker-compose-common.yaml
      service: ros2-base
    environment:
      - DISPLAY
      - XAUTHORITY=/tmp/.docker.xauth
      - NVIDIA_DRIVER_CAPABILITIES=compute,graphics,utility,video,display
      - NVIDIA_VISIBLE_DEVICES=all
      # ROS2/DDS
      - ROS_LOG_DIR
      - RMW_IMPLEMENTATION
      - ROS_DOMAIN_ID
      - ROS_LOCALHOST_ONLY
      - CYCLONEDDS_URI
      - CYCLONEDDS_NETWORK_INTERFACE_NAME
      - CYCLONEDDS_NETWORK_INTERFACE_AUTODETERMINE
      # production
      - CABOT_GAZEBO=0
      - CABOT_USE_SIM_TIME=0
    volumes:
      - ./docker/home:/home/developer
      - ./cabot-navigation/cabot:/home/developer/diagnostic_ws/src/cabot
      - ./cabot-navigation/cabot_diagnostics:/home/developer/diagnostic_ws/src/cabot_diagnostics
      - ./cabot-navigation/cabot_ui:/home/developer/diagnostic_ws/src/cabot_ui
      - ./cabot-navigation/cabot-common/cabot_msgs:/home/developer/diagnostic_ws/src/cabot_msgs
      - ./cabot-navigation/script:/home/developer/diagnostic_ws/script
# bridge - if DDS use shared memory
      - /dev/shm:/dev/shm
    privileged: true
    network_mode: host
    stop_signal: SIGINT
    working_dir: /home/developer/diagnostic_ws
    command: bash -c "source install/setup.bash && ros2 launch cabot_ui cabot_diagnostic.launch.py config_file:=/home/developer/diagnostic_ws/src/cabot_ui/config/cabot_mapping_diagnostic.yaml"

  gui:
    extends:
      file: docker-compose-common.yaml
      service: gui-dev
    environment:
      - ROS_LOG_DIR
      - CABOT_SHOW_GAZEBO_CLIENT=0
      - CABOT_SHOW_ROBOT_MONITOR=1
      - CABOT_SHOW_ROS2_RVIZ=0
      - CABOT_SHOW_ROS2_LOCAL_RVIZ=0
      # production
      - CABOT_GAZEBO=0
      - CABOT_USE_SIM_TIME=0

  wifi_scan:
    extends:
      file: docker-compose-common.yaml
      service: wifi_scan-dev
    profiles:
      - wifi_scan
    volumes:
      - ./docker/home:/home/developer

  ble_scan:
    extends:
      file: docker-compose-common.yaml
      service: ble_scan-dev
    volumes:
      - ./docker/home:/home/developer