/
compose.simulation.yaml
55 lines (49 loc) · 1.51 KB
/
compose.simulation.yaml
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x-gpu-config:
&gpu-config
runtime: nvidia
environment:
- DISPLAY=${DISPLAY:?err}
- NVIDIA_VISIBLE_DEVICES=all
- NVIDIA_DRIVER_CAPABILITIES=all
x-cpu-config:
&cpu-config
environment:
- DISPLAY=${DISPLAY:?err}
- LIBGL_ALWAYS_SOFTWARE=1
services:
rosbot:
image: ${SIMULATION_DOCKER_IMAGE:-husarion/rosbot-xl-gazebo:humble-0.9.1-20240131}
<<: *gpu-config # or *cpu-config
volumes:
- /tmp/.X11-unix:/tmp/.X11-unix:rw
command: ${SIMULATION_COMMAND:-ros2 launch rosbot_xl_gazebo simulation.launch.py mecanum:=${MECANUM:-True}}
navigation:
image: husarion/navigation2:humble-1.1.12-20240123
volumes:
- ./config/nav2_${CONTROLLER:-rpp}_params.yaml:/params.yaml
- ./maps:/maps
environment:
- SAVE_MAP_PERIOD=${SAVE_MAP_PERIOD}
command: >
ros2 launch nav2_bringup bringup_launch.py
slam:=${SLAM:-True}
params_file:=/params.yaml
map:=/maps/map.yaml
use_sim_time:=True
foxglove:
image: husarion/foxglove:1.84.0
ports:
- 8080:8080
- 8765:8765
volumes:
- ./config/layout.json:/foxglove/default-layout.json
environment:
- DS_TYPE=foxglove-websocket
- DS_PORT=8765
- DS_HOST=foxglove-ds
- UI_PORT=8080
- DISABLE_CACHE=true
- DISABLE_INTERACTION=false
foxglove-ds:
image: husarion/foxglove-bridge:humble-0.7.3-20240108
command: ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765 capabilities:=[clientPublish,connectionGraph,assets]