2024-01-23 15:06:29 -04:00
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version: "3.3"
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#Due to a bug in moby's libnetwork DNS resolver single domains like `gazebo`
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# don't get resolved properly, even when we have ndots set to 0 like we're
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# supposed to. So we need to reference `gazebo.compose-name_network-name`.
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# We explicitly set the name variable so that changing folders doesn't break
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2024-01-23 15:47:46 -04:00
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# the install. This only applies when using docker-in-docker
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2024-01-23 15:06:29 -04:00
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name: "spiri-sdk"
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volumes:
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user-home:
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dockeradmin:
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docker-cache:
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services:
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drone-stack:
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#The drone runs docker, so ultimately our drone stack is just a docker-in-docker container.
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## This can make it difficult to deal with GPU acceleration, but remember that ROS *is*
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## distributed. You don't need to run your GPU-accelerated rosnode on the drone-stack,
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## just make sure you can contact the ROS_MASTER.
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runtime: sysbox-runc
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image: docker:24-dind
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command: dockerd -H unix:///var/run/docker.sock -H tcp://0.0.0.0:2375 --tls=false
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healthcheck:
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test: docker info
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start_interval: 1s
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ports:
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- "127.0.0.1:5760:5760" #Ground control
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- "127.0.0.1:4560:4560" # Simulation
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- "127.0.0.1:14560:14560" # Simulation
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- "127.0.0.1:11311:11311" #Ros master
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volumes:
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- docker-cache:/var/lib/docker/
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#Madness, setting a low ulimit here fixes memory leaks
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# https://answers.ros.org/question/336963/rosout-high-memory-usage/
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ulimits:
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nofile:
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soft: 1024
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hard: 524288
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gazebo:
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image: git.spirirobotics.com/spiri/gazebo-classic:main
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# command: gzserver --verbose /usr/share/gazebo-11/worlds/empty.world
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command: gzserver --verbose /usr/share/gazebo-11/worlds/citadel_hill_world.world
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ports:
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- "127.0.0.1:11345:11345" #Ros master
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desktop:
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image: git.spirirobotics.com/spiri/spiri-sdk-desktop:master
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runtime: sysbox-runc
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tty: true
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environment:
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DOCKER_HOST: tcp://drone-stack:2375
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ROS_MASTER_URI: http://drone-stack:11311
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GAZEBO_MASTER_URI: http://gazebo.spiri-sdk_default:11345
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ports:
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- "127.0.0.1:8466:8466"
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volumes:
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- ./spiri-sdk-home:/home/spiri
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depends_on:
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drone-stack:
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condition: service_healthy
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