docker-compose-gnss.yaml

# Copyright (c) 2021  IBM Corporation
#
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# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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services:
  rtk_gnss:
    build:
      context: ./cabot-navigation/docker/localization
    environment:
      NTRIP_CLIENT: ${NTRIP_CLIENT}
      NTRIP_CLIENT_START_AT_LAUNCH: ${NTRIP_CLIENT_START_AT_LAUNCH:-0}
      GNSS_NODE_START_AT_LAUNCH: ${GNSS_NODE_START_AT_LAUNCH:-1}
      # rtklib
      RTK_STR_IN: ${RTK_STR_IN}
      CABOT_SITE: ${CABOT_SITE} # if RTK_STR_IN is not specified, RTK_STR_IN will be loaded from CABOT_SITE
      BAUD_UBLOX: ${BAUD_UBLOX:-230400}
      # ntrip_client
      NTRIP_HOST: ${NTRIP_HOST}
      NTRIP_PORT: ${NTRIP_PORT:-2101}
      NTRIP_MOUNTPOINT: ${NTRIP_MOUNTPOINT}
      NTRIP_AUTHENTIFICATE: ${NTRIP_AUTHENTIFICATE}
      NTRIP_USERNAME: ${NTRIP_USERNAME}
      NTRIP_PASSWORD: ${NTRIP_PASSWORD}
      NTRIP_STR2STR_RELAY_BACK: ${NTRIP_STR2STR_RELAY_BACK:-0}
    volumes:
      - /dev:/dev
      - /sys/devices:/sys/devices
      - ./docker/home:/home/developer
      - ./cabot-navigation/cabot_sites:/home/developer/loc_ws/src/cabot_sites
      # volumes to launch str2str.launch.py
      - ./cabot-navigation/cabot-common/cabot_common:/home/developer/loc_ws/src/cabot_common
      - ./cabot-navigation/mf_localization:/home/developer/loc_ws/src/mf_localization
    privileged: true
    network_mode: host
    tty: true
    stdin_open: true
    command: /launch_rtklib.sh