From 37f50395db5472f7e739d4d7a8eed59e28fddc19 Mon Sep 17 00:00:00 2001
From: emranB <omegaregions0072004@yahoo.com>
Date: Mon, 24 Jun 2024 13:56:31 -0300
Subject: [PATCH] Testing standalone docker compose

---
 Dockerfile                        |  2 +
 docker-compose-test-stadalone.yml | 70 +++++++++++++++++++++++++++++++
 2 files changed, 72 insertions(+)
 create mode 100644 docker-compose-test-stadalone.yml

diff --git a/Dockerfile b/Dockerfile
index 988fc79..e2f1952 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -5,6 +5,7 @@ RUN apt-get update && apt-get install -y \
     vim \
     build-essential \
     ros-kinetic-mavros \
+    dos2unix \
     ros-kinetic-mavros-extras \
     ros-kinetic-mavros-msgs \
     ros-kinetic-catkin
@@ -20,5 +21,6 @@ ENV CATKIN_SETUP_FILE devel/setup.bash
 
 RUN apt-get clean
 COPY ./ros_entrypoint.sh /ros_entrypoint.sh
+RUN /bin/bash -c "dos2unix /ros_entrypoint.sh"
 
 HEALTHCHECK --interval=5s --timeout=5s --retries=3 CMD /ros_entrypoint.sh rostopic list
\ No newline at end of file
diff --git a/docker-compose-test-stadalone.yml b/docker-compose-test-stadalone.yml
new file mode 100644
index 0000000..63a8e2f
--- /dev/null
+++ b/docker-compose-test-stadalone.yml
@@ -0,0 +1,70 @@
+version: "3.8"
+
+
+
+services:
+
+  # mavros:
+  #   #This service bridges our mavlink-based robot-coprosessor into ROS
+  #   #In this example it connects to a simulated coprocessor.
+  #   image: git.spirirobotics.com/spiri/services-ros1-mavros:master
+  #   command: roslaunch mavros px4.launch fcu_url:="udp://:14557@gazebo:14540"
+  #   environment:
+  #     - "ROS_MASTER_URI=http://ros-master:11311"
+  #   depends_on:
+  #     ros-master:
+  #       condition: service_healthy
+  #     # mavproxy:
+  #     #   condition: service_started
+  #   restart: always
+  #   deploy:
+  #     resources:
+  #       limits:
+  #         # cpus: '0.01'
+  #         memory: 200M
+  #   ulimits:
+  #     nofile:
+  #       soft: 1024
+  #       hard: 524288
+  #   networks:
+  #     - sim_network
+
+  ros-master:
+    image: git.spirirobotics.com/spiri/services-ros1-core:main
+    command: stdbuf -o L roscore
+    environment:
+      - "ROS_MASTER_URI=http://ros-master:11311"
+    restart: always
+    ports:
+      - "11311:11311"
+    deploy:
+      resources:
+        limits:
+          memory: 1G
+    # Madness, setting a low ulimit here fixes memory leaks
+    # https://answers.ros.org/question/336963/rosout-high-memory-usage/
+    ulimits:
+      nofile:
+        soft: 1024
+        hard: 524288
+    networks:
+      - sim_network
+
+  xbee-mav:
+    command: tail -f /dev/null
+    container_name: xbee-mav
+    depends_on:
+      - ros-master
+    build:
+      context: .
+      dockerfile: Dockerfile
+    devices:
+      - 'COM16'
+    environment:
+      - "ROS_MASTER_URI=http://ros-master:11311"
+    networks:
+      - sim_network
+
+networks:
+  sim_network:
+    driver: bridge
\ No newline at end of file