docker-compose.yaml

version: "3"

services:
    ros_master:
        image: ros:noetic-ros-core
        networks:
            - mapping_ipp_framework_network
        restart: always
        container_name: mapping_ipp_framework_ros_master
        command: stdbuf -o L roscore

    mapping_ipp:
        image: mapping_ipp_framework_mapping_ipp:latest
        build:
            context: .
            dockerfile: Dockerfile
        depends_on:
            - ros_master
        networks:
            - mapping_ipp_framework_network
        volumes:
            - ${REPO_DIR}:/mapping_ipp_framework
            - /tmp/.X11-unix:/tmp/.X11-unix:rw
        environment:
            - ROS_MASTER_URI=http://ros_master:11311
            - REPO_DIR=${REPO_DIR}
            - CONFIG_FILE_PATH=${CONFIG_FILE_PATH}
            - LOG_DIR=${LOG_DIR}
            - DISPLAY=unix${DISPLAY}
            - QT_X11_NO_MITSHM=1
            - NVIDIA_VISIBLE_DEVICES=all
            - KMP_INIT_AT_FORK=FALSE
            # - MKL_THREADING_LAYER=TBB
            - TELEGRAM_CHAT_ID=${TELEGRAM_CHAT_ID}
            - TELEGRAM_TOKEN=${TELEGRAM_TOKEN}
            - EXPERIMENT_FILE_PATH=${EXPERIMENT_FILE_PATH}
            - CHECKPOINTS_DIR=${CHECKPOINTS_DIR}
            - TRAIN_DATA_DIR=${TRAIN_DATA_DIR}
            - DATASETS_DIR=${DATASETS_DIR}
        ports:
            - "6006:6006"
        container_name: mapping_ipp_framework_mapping_ipp
        runtime: nvidia
        command: "sleep 168h"
    rotors_simulation:
        image: mapping_ipp_framework_mapping_ipp:latest
        build:
            context: .
            dockerfile: Dockerfile
        depends_on:
            - ros_master
        networks:
            - mapping_ipp_framework_network
        volumes:
            - ${REPO_DIR}:/mapping_ipp_framework
            - /tmp/.X11-unix:/tmp/.X11-unix:rw
        environment:
            - ROS_MASTER_URI=http://ros_master:11311
            - REPO_DIR=${REPO_DIR}
            - CONFIG_FILE_PATH=${CONFIG_FILE_PATH}
            - LOG_DIR=${LOG_DIR}
            - DISPLAY=unix${DISPLAY}
            - QT_X11_NO_MITSHM=1
        container_name: mapping_ipp_framework_rotors_simulation
        command: "sleep 168h"
    mav_ipp_planning:
        image: mapping_ipp_framework_mapping_ipp:latest
        build:
            context: .
            dockerfile: Dockerfile
        depends_on:
            - ros_master
        networks:
            - mapping_ipp_framework_network
        volumes:
            - ${REPO_DIR}:/mapping_ipp_framework
            - ${REPO_DIR}/planning:/mapping_ipp_framework/src/planning
            - /tmp/.X11-unix:/tmp/.X11-unix:rw
        environment:
            - ROS_MASTER_URI=http://ros_master:11311
            - REPO_DIR=${REPO_DIR}
            - CONFIG_FILE_PATH=${CONFIG_FILE_PATH}
            - LOG_DIR=${LOG_DIR}
            - DISPLAY=unix${DISPLAY}
            - QT_X11_NO_MITSHM=1
        container_name: mapping_ipp_framework_mav_ipp_planning
        command: "sleep 168h"
    mav_local_planning:
        image: mapping_ipp_framework_mapping_ipp:latest
        build:
            context: .
            dockerfile: Dockerfile
        depends_on:
            - ros_master
        networks:
            - mapping_ipp_framework_network
        volumes:
            - ${REPO_DIR}:/mapping_ipp_framework
        environment:
            - ROS_MASTER_URI=http://ros_master:11311
            - REPO_DIR=${REPO_DIR}
            - CONFIG_FILE_PATH=${CONFIG_FILE_PATH}
            - LOG_DIR=${LOG_DIR}
        container_name: mapping_ipp_framework_mav_local_planning
        command: "sleep 168h"
    mav_control:
        image: mapping_ipp_framework_mapping_ipp:latest
        build:
            context: .
            dockerfile: Dockerfile
        depends_on:
            -   ros_master
        networks:
            - mapping_ipp_framework_network
        volumes:
            - ${REPO_DIR}:/mapping_ipp_framework
        environment:
            - ROS_MASTER_URI=http://ros_master:11311
            - REPO_DIR=${REPO_DIR}
            - CONFIG_FILE_PATH=${CONFIG_FILE_PATH}
            - LOG_DIR=${LOG_DIR}
        container_name: mapping_ipp_framework_mav_control
        command: bash -c "source /mapping_ipp_framework/devel/setup.bash && roslaunch mav_linear_mpc mav_linear_mpc_sim.launch mav_name:=firefly"

networks:
    mapping_ipp_framework_network:
        driver: bridge