docker-compose-mapping-gazebo.yaml

# Copyright (c) 2021  IBM Corporation
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# 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.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.

services:
  mapping:
    build:
      context: ./cabot-navigation/docker/localization
    environment:
      - DISPLAY
      - XAUTHORITY=/tmp/.docker.xauth
      - NVIDIA_DRIVER_CAPABILITIES=compute,graphics,utility,video,display
      - NVIDIA_VISIBLE_DEVICES=all
      - OUTPUT_PREFIX
      - RUN_CARTOGRAPHER=${RUN_CARTOGRAPHER:-true}
      - USE_XSENS
      - USE_ESP32
      - USE_ARDUINO
      - CABOT_MODEL
      - PLAYBAG_RATE_CARTOGRAPHER
      - PLAYBAG_RATE_PC2_CONVERT
      - ROS_LOG_DIR
      - RMW_IMPLEMENTATION
      - ROS_DOMAIN_ID
    volumes:
      - /dev:/dev
      - /sys/devices:/sys/devices
      - /var/lib/bluetooth:/var/lib/bluetooth
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - /tmp/.docker.xauth:/tmp/.docker.xauth
      # home
      - ./docker/home:/home/developer
      # code
      - ./cabot-drivers/cabot_serial:/home/developer/mapping_ws/src/cabot_serial
      - ./cabot-navigation/cabot_mf_localization:/home/developer/mapping_ws/src/cabot_mf_localization
      - ./cabot-navigation/mf_localization:/home/developer/mapping_ws/src/mf_localization
      - ./cabot-navigation/mf_localization_mapping:/home/developer/mapping_ws/src/mf_localization_mapping
      - ./cabot-drivers/wireless_scanner_ros:/home/developer/mapping_ws/src/wireless_scanner_ros
# bridge - if DDS use shared memory
      - /dev/shm:/dev/shm
    privileged: true
    devices:
      - /dev/dri
    cap_add:
      - SYS_ADMIN
      - NET_ADMIN
    network_mode: host
    tty: true
    stdin_open: true
    working_dir: /home/developer/mapping_ws
    command: /launch.sh mapping -C -X -s

  gui:
    extends:
      file: docker-compose-common.yaml
      service: gui
    environment:
      - ROS_LOG_DIR
      - CABOT_SHOW_GAZEBO_CLIENT=0
      - CABOT_SHOW_ROBOT_MONITOR=1
      - CABOT_SHOW_ROS2_RVIZ=0
      - CABOT_SHOW_ROS2_LOCAL_RVIZ=0