149 lines
4.0 KiB
YAML
149 lines
4.0 KiB
YAML
version: '3.8'
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services:
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gui-tools:
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runtime: nvidia
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env_file:
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- .env
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build:
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context: ./guiTools/
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environment:
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# Display settings
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- DISPLAY=${DISPLAY}
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- WAYLAND_DISPLAY=${WAYLAND_DISPLAY}
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# - QT_QPA_PLATFORM=${QT_QPA_PLATFORM:-xcb} # Default to X11
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# If running with Wayland
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- XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
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- ROS_MASTER_URI=http://ros-master:11311
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# - NVIDIA_DRIVER_CAPABILITIES=compute,video,utility
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# - NVIDIA_VISIBLE_DEVICES=all
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volumes:
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# X11 socket
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- /tmp/.X11-unix:/tmp/.X11-unix
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- ${XAUTHORITY:-~/.Xauthority}:/root/.Xauthority
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# Wayland socket
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#- ${XDG_RUNTIME_DIR}/wayland-0:${XDG_RUNTIME_DIR}/wayland-0
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# Allow access to the host's GPU
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- /dev/dri:/dev/dri
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devices:
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# Provide access to GPU devices
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- /dev/dri:/dev/dri
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network_mode: host
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ipc: host
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#user: "${UID}:${GID}"
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privileged: true # Allow privileged access if necessary (e.g., for GPU access)
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# restart: unless-stopped
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# command: /bin/bash -c "source /opt/ros/foxy/setup.bash && rvis2" # Replace with the actual command to run Gazebo Ignition
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profiles: [ui,]
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# deploy:
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# resources:
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# reservations:
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# devices:
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# - driver: cdi
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# device_ids:
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# - nvidia.com/gpu=all
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ardupilot:
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container_name: ardupilot-$DRONE_SYS_ID
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image: git.spirirobotics.com/spiri/ardupilot:spiri-master
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profiles:
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- uav-sim
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env_file:
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- .env
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command:
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- /bin/bash
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- -c
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- |
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./Tools/autotest/sim_vehicle.py $ARDUPILOT_VEHICLE --no-rebuild \
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--no-mavproxy --enable-dds --sysid $DRONE_SYS_ID -I$TRACKER_INSTANCE
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stdin_open: true
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tty: true
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network_mode: host
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mavproxy:
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container_name: mavproxy-$DRONE_SYS_ID
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image: git.spirirobotics.com/spiri/services-mavproxy:main
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profiles:
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- uav-sim
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env_file:
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- .env
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command: >
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mavproxy.py --non-interactive
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--master tcp:127.0.0.1:$SERIAL0_PORT
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--out udpout:0.0.0.0:$MAVLINK_PORT
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--sitl 127.0.0.1:$SITL_PORT
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--out udp:0.0.0.0:14550
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restart: always
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network_mode: host
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mavros:
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#This service bridges our mavlink-based robot-coprosessor into ROS
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#In this example it connects to a simulated coprocessor.
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image: git.spirirobotics.com/spiri/services-ros1-mavros:master
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command: roslaunch mavros px4.launch fcu_url:="udp://:14555@mavproxy:14550" tgt_system:="1"
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environment:
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- "ROS_MASTER_URI=http://ros-master:11311"
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depends_on:
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ros-master:
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condition: service_healthy
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mavproxy:
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condition: service_started
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restart: always
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deploy:
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resources:
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limits:
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# cpus: '0.01'
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memory: 200M
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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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mavros2:
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container_name: mavros2-$DRONE_SYS_ID
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image: git.spirirobotics.com/spiri/services-ros2-mavros:main
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profiles:
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- uav-sim
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env_file:
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- .env
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command: ros2 launch mavros apm.launch fcu_url:="udp://0.0.0.0:$MAVLINK_PORT@:14555" namespace:="spiri$DRONE_SYS_ID" tgt_system:="$DRONE_SYS_ID"
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depends_on:
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ardupilot:
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condition: service_started
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mavproxy:
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condition: service_started
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restart: always
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ipc: host
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network_mode: host
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deploy:
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resources:
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limits:
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# cpus: '0.01'
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memory: 200M
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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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ros-master:
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image: git.spirirobotics.com/spiri/services-ros1-core:main
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command: stdbuf -o L roscore
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environment:
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- "ROS_MASTER_URI=http://localhost:11311"
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restart: always
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ports:
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- "127.0.0.1:11311:11311"
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deploy:
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resources:
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limits:
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memory: 1G
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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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