docker-compose-common.yaml

# Copyright (c) 2020, 2021  Carnegie Mellon University, IBM Corporation, and others
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services:
  ros2-dev:
    extends:
      file: cabot-navigation/docker-compose-common.yaml
      service: navigation-dev-base
    volumes:
      - ./docker/home:/home/developer/

  ros2-prod:
    extends:
      file: cabot-navigation/docker-compose-common.yaml
      service: navigation-prod-base
    volumes:
      - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
      - ./docker/home/.ros:/home/developer/.ros

  navigation-dev:
    extends:
      file: cabot-navigation/docker-compose-common.yaml
      service: navigation-dev-base
    volumes:
      - ./docker/home:/home/developer/

  navigation-prod:
    extends:
      file: cabot-navigation/docker-compose-common.yaml
      service: navigation-prod-base
    volumes:
      - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
      - ./docker/home/.ros:/home/developer/.ros

  gazebo-dev:
    extends:
      file: cabot-navigation/docker-compose-common.yaml
      service: gazebo-dev-base
    volumes:
      - ./docker/home:/home/developer/

  gazebo-prod:
    extends:
      file: cabot-navigation/docker-compose-common.yaml
      service: gazebo-prod-base
    volumes:
      - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
      - ./docker/home/.ros:/home/developer/.ros

  gui-dev:
    extends:
      file: cabot-navigation/docker-compose-common.yaml
      service: gui-dev-base
    volumes:
      - ./docker/home:/home/developer/

  gui-prod:
    extends:
      file: cabot-navigation/docker-compose-common.yaml
      service: gui-prod-base
    volumes:
      - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
      - ./docker/home/.ros:/home/developer/.ros

  localization-dev:
    extends:
      file: cabot-navigation/docker-compose-common.yaml
      service: localization-dev-base
    volumes:
      - ./docker/home:/home/developer/

  localization-prod:
    extends:
      file: cabot-navigation/docker-compose-common.yaml
      service: localization-prod-base
    volumes:
      - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
      - ./docker/home/.ros:/home/developer/.ros

  driver-dev:
    extends:
      file: cabot-drivers/docker-compose-base.yaml
      service: driver-dev-base
    volumes:
      - ./docker/home:/home/developer/

  driver-prod:
    extends:
      file: cabot-drivers/docker-compose-base.yaml
      service: driver-prod-base
    volumes:
      - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
      - ./docker/home/.ros:/home/developer/.ros

  people-dev:
    extends:
      file: cabot-people/docker-compose-base.yaml
      service: people-all-dev-base
    volumes:
      - ./docker/home:/home/developer

  people-prod:
    extends:
      file: cabot-people/docker-compose-base.yaml
      service: people-all-prod-base
    volumes:
      - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
      - ./docker/home/.ros:/home/developer/.ros

  people-detection-dev:
    extends:
      file: cabot-people/docker-compose-base.yaml
      service: people-detection-dev-base
    volumes:
      - ./docker/home:/home/developer

  people-detection-prod:
    extends:
      file: cabot-people/docker-compose-base.yaml
      service: people-detection-prod-base
    volumes:
      - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
      - ./docker/home/.ros:/home/developer/.ros

  people-track-dev:
    extends:
      file: cabot-people/docker-compose-base.yaml
      service: people-track-dev-base
    volumes:
      - ./docker/home:/home/developer

  people-track-prod:
    extends:
      file: cabot-people/docker-compose-base.yaml
      service: people-track-prod-base
    volumes:
      - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
      - ./docker/home/.ros:/home/developer/.ros

  people-framos-dev:
    extends:
      file: cabot-people/docker-compose-base.yaml
      service: people-framos-all-dev-base
    volumes:
      - ./docker/home:/home/developer

  people-framos-prod:
    extends:
      file: cabot-people/docker-compose-base.yaml
      service: people-framos-all-prod-base
    volumes:
      - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
      - ./docker/home/.ros:/home/developer/.ros

  people-framos-camera-dev:
    extends:
      file: cabot-people/docker-compose-base.yaml
      service: people-framos-camera-dev-base
    volumes:
      - ./docker/home:/home/developer

  people-framos-camera-prod:
    extends:
      file: cabot-people/docker-compose-base.yaml
      service: people-framos-camera-prod-base
    volumes:
      - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
      - ./docker/home/.ros:/home/developer/.ros

  people-framos-detection-dev:
    extends:
      file: cabot-people/docker-compose-base.yaml
      service: people-framos-detection-dev-base
    volumes:
      - ./docker/home:/home/developer

  people-framos-detection-prod:
    extends:
      file: cabot-people/docker-compose-base.yaml
      service: people-framos-detection-prod-base
    volumes:
      - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
      - ./docker/home/.ros:/home/developer/.ros

  people-nuc-dev:
    extends:
      file: cabot-people/docker-compose-base.yaml
      service: people-nuc-dev-base
    volumes:
      - ./docker/home:/home/developer

  people-nuc-prod:
    extends:
      file: cabot-people/docker-compose-base.yaml
      service: people-nuc-prod-base
    volumes:
      - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
      - ./docker/home/.ros:/home/developer/.ros

  wifi_scan-dev:
    extends:
      file: cabot-drivers/docker-compose-base.yaml
      service: wifi_scan-dev-base
    volumes:
      - ./docker/home:/home/developer

  wifi_scan-prod:
    extends:
      file: cabot-drivers/docker-compose-base.yaml
      service: wifi_scan-prod-base
    volumes:
      - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
      - ./docker/home/.ros:/home/developer/.ros

  ble_scan-dev:
    extends:
      file: cabot-drivers/docker-compose-base.yaml
      service: ble_scan-dev-base
    volumes:
      - ./docker/home:/home/developer

  ble_scan-prod:
    extends:
      file: cabot-drivers/docker-compose-base.yaml
      service: ble_scan-prod-base
    volumes:
      - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
      - ./docker/home/.ros:/home/developer/.ros

  rtk_gnss-dev:
    extends:
      file: cabot-navigation/docker-compose-common.yaml
      service: rtk_gnss-dev-base
    volumes:
      - ./docker/home:/home/developer

  rtk_gnss-prod:
    extends:
      file: cabot-navigation/docker-compose-common.yaml
      service: rtk_gnss-prod-base
    volumes:
      - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
      - ./docker/home/.ros:/home/developer/.ros

  app-server-prod:
    extends:
      file: cabot-app-server/docker-compose.yaml
      service: app-server
    volumes:
      - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
      - ./docker/home/.ros:/home/developer/.ros

  power_controller-prod:
    extends:
      file: cabot-drivers/docker-compose-base.yaml
      service: power_controller-base
    volumes:
      - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
      - ./docker/home/.ros:/home/developer/.ros

  bag-base:
    image: cmucal/cabot-bag:${CABOT_LAUNCH_IMAGE_TAG:-latest}
    build:
      context: ./docker/bag
      additional_contexts:
        cabot_src: ./
      args:
        - BASE_IMAGE=${BASE_IMAGE:-cabot-base}
      x-bake:
        tags:
          - ${REGISTRY:-cmucal}/cabot-bag
        platforms:
          - linux/amd64
          - linux/arm64
        output:
          - type=registry
    environment:
      - DISPLAY
      - XAUTHORITY=/tmp/.docker.xauth
      - NVIDIA_DRIVER_CAPABILITIES=compute,graphics,utility,video,display
      - NVIDIA_VISIBLE_DEVICES=all
      - HOST_UID
      - HOST_GID
      - HOST_TZ
      - CABOT_ROSBAG_BACKEND
      - CABOT_ROSBAG_COMPRESSION
      - CABOT_ROSBAG_RECORD_CAMERA
      - CABOT_ROSBAG_SEPARATE_LOG
      - CABOT_SHOW_ROS2_LOCAL_RVIZ
# ROS2/DDS
      - ROS_LOG_DIR
      - RMW_IMPLEMENTATION
      - ROS_LOCALHOST_ONLY
      - ROS_DOMAIN_ID
      - CYCLONEDDS_URI
      - CYCLONEDDS_NETWORK_INTERFACE_NAME
      - CYCLONEDDS_NETWORK_INTERFACE_AUTODETERMINE # set automatically by launch.sh
    volumes:
# device, bluetooth
      - /dev:/dev
      - /sys/devices:/sys/devices
# display
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - /tmp/.docker.xauth:/tmp/.docker.xauth
# bridge - if DDS use shared memory
      - /dev/shm:/dev/shm
    working_dir: /home/developer/bag_ws
    devices:
      - /dev/dri
    privileged: true
    cap_add:
      - SYS_ADMIN
      - NET_ADMIN
    network_mode: host
    stop_signal: SIGINT
    command: /launch.sh record

  bag-dev:
    extends:
      service: bag-base
    volumes:
# code
      - ./cabot-navigation/cabot_sites:/home/developer/bag_ws/src/cabot_sites
      - ./cabot-common/cabot_msgs:/home/developer/bag_ws/src/cabot_msgs
      - ./cabot-common/cabot_common:/home/developer/bag_ws/src/cabot_common
      - ./cabot_debug:/home/developer/bag_ws/src/cabot_debug
      - ./cabot-drivers/motor_controller:/home/developer/bag_ws/src/motor_controller
      - ./cabot-drivers/docker/driver/ros_odrive/odrive_base:/home/developer/bag_ws/src/ros_odrive/odrive_base
      - ./cabot-drivers/docker/driver/ros_odrive/odrive_node:/home/developer/bag_ws/src/ros_odrive/odrive_node
      - ./cabot-drivers/power_controller/power_controller_msgs:/home/developer/bag_ws/src/power_controller/power_controller_msgs
      - ./cabot-navigation/script:/home/developer/bag_ws/script
      - ./cabot-navigation/mf_localization_msgs:/home/developer/bag_ws/src/mf_localization_msgs
      - ./cabot-navigation/mf_localization_rviz:/home/developer/bag_ws/src/mf_localization_rviz
      - ./cabot-navigation/queue_msgs:/home/developer/bag_ws/src/queue_msgs
      - ./cabot-people/track_people_msgs:/home/developer/bag_ws/src/track_people_msgs
      - ./cabot-description/cabot_description:/home/developer/bag_ws/src/cabot_description
      - ./cabot-navigation/docker/localization/ublox/ublox_msgs:/home/developer/bag_ws/src/ublox_msgs
      - ./cabot-navigation/docker/localization/ublox/ublox_serialization:/home/developer/bag_ws/src/ublox_serialization
      - ./cabot-navigation/docker/localization/cartographer_ros/cartographer_ros_msgs:/home/developer/bag_ws/src/cartographer_ros_msgs
      - ./cabot-base/docker/humble-custom/velodyne/velodyne_msgs:/home/developer/bag_ws/src/velodyne_msgs
      - ./host_ws/src/tf_bag:/home/developer/bag_ws/src/tf_bag
      - ${CABOT_BAG_MOUNT:-./doc}:/ros2_topics
    profiles:
      - dev

  bag-prod:
    extends:
      service: bag-base
    volumes:
      - ${CABOT_BAG_MOUNT:-./doc}:/ros2_topics
    profiles:
      - prod