docker-compose.yml

# https://answers.ros.org/question/253832/docker-how-to-make-sure-nodes-start-after-master/
# see: https://github.com/toddsampson/ros-docker/blob/master/docker-compose.yml
# https://github.com/LI3DS/ros-li3ds/blob/master/docker-compose.yml
# http://jaredmmoore.com/rosgazebo-genetic-algorithms-and-multiple-instances/
# https://answers.ros.org/question/154511/fast-headless-robot-simulator/
# https://bitbucket.org/osrf/gazebo/issues/1837/vmware-rendering-z-ordering-appears-random
# https://github.com/leonid-shevtsov/headless/issues/47
#
# Note: The `expose` command is used to expose a given port on a specific
#       container to the wider internal network (i.e., not the host machine).
#       Ports may be forwarded to the host network using the "ports" command.
#
version: '2'
services:
  roscore:
    image: ros:kinetic
    container_name: roscore
    hostname: roscore
    expose:
      - 11311
    command: roscore

  ig-server:
    build:
      context: https://github.com/cmu-mars/ig-action-server-p15.git
    image: cmu-mars/ig-server
    container_name: ig-server
    hostname: ig-server
    environment:
      - "ROS_HOSTNAME=ig-server"
      - "ROS_MASTER_URI=http://roscore:11311"
    depends_on:
      - roscore
    command: python -u src/ig_action_server/src/ig_server.py

  gazebo:
    build:
      context: https://github.com/cmu-mars/cp-gazebo-p15.git
    image: cmu-mars/gazebo
    container_name: gazebo
    hostname: gazebo
    # expose the Gazebo server to the host machine
    ports:
      - 11345:11345
    environment:
      - "ROS_HOSTNAME=gazebo"
      - "ROS_MASTER_URI=http://roscore:11311"
      - "GAZEBO_MASTER_URI=http://localhost:11345"
    depends_on:
      - roscore
    command: roslaunch --wait /home/mars/catkin_ws/src/cp-gazebo/launch/cp1.launch 

  # TODO: rainbow should run inside its own container
  brasscomms:
    build:
      context: https://github.com/cmu-mars/brasscomms.git
    image: cmu-mars/brasscomms
    container_name: brasscomms
    hostname: brasscomms
    environment:
      - "ROS_HOSTNAME=brasscomms"
      - "ROS_MASTER_URI=http://roscore:11311"
    ports:
      - 5000:5000
    depends_on:
      - roscore
      - ig-server
      - gazebo
    # -u flag is used to disable output buffering -- useful for debugging!
    command: python -u src/brasscomms/src/brasscomms.py | tee brasscomms.out