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compose.yaml
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compose.yaml
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x-common-config:
&common-config
network_mode: host
ipc: host
restart: unless-stopped
x-dds-envs:
&dds-envs
env_file: .env.dds
services:
ros2router:
image: husarnet/ros2router:1.6.3
<<: *common-config
volumes:
- ./filter.yaml:/filter.yaml
environment:
- VIDEO_CODEC=ffmpeg # can be `ffmpeg`, `theora` or `compressed`
- ROBOT_NAMESPACE=${ROBOT_NAMESPACE:-robot}
- USER
# ==========================
# envs for Husarnet setup
# ==========================
- DISCOVERY_SERVER_LISTENING_PORT=11811
- DISCOVERY_SERVER_ID=0
# ==========================
# envs for LAN setup
# ==========================
# - ROS_LOCALHOST_ONLY=0
# - HUSARNET_PARTICIPANT_ENABLED=false
rosbot:
image: husarion/rosbot:humble-0.13.1-20240201
<<:
- *common-config
- *dds-envs
devices:
- ${SERIAL_PORT:?err}
# - /dev/bus/usb/ # FTDI
environment:
- ROBOT_NAMESPACE=${ROBOT_NAMESPACE:-robot}
command: >
ros2 launch rosbot_bringup combined.launch.py
mecanum:=${MECANUM:-False}
serial_port:=$SERIAL_PORT
serial_baudrate:=576000
astra:
image: husarion/astra:humble-1.1.0-20240111
<<:
- *common-config
- *dds-envs
devices:
- /dev/bus/usb/
volumes:
- ./params/astra.yaml:/husarion_utils/astra_params.yaml
command: >
ros2 launch /husarion_utils/astra.launch.py
robot_namespace:=${ROBOT_NAMESPACE:-robot}