Refactor
This commit is contained in:
parent
7656d4b2d1
commit
a032020497
|
|
@ -1,318 +1,12 @@
|
||||||
FROM ubuntu:18.04
|
# FROM ubuntu:18.04
|
||||||
|
FROM px4io/px4-dev-ros-noetic
|
||||||
|
|
||||||
|
RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
|
||||||
|
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
|
||||||
|
RUN sudo apt-get update
|
||||||
|
RUN sudo apt-get install gz-garden -y
|
||||||
|
|
||||||
|
RUN git clone --depth 1 --branch v1.14.0-rc2 https://github.com/PX4/PX4-Autopilot.git --recursive
|
||||||
|
WORKDIR PX4-Autopilot
|
||||||
|
RUN make px4_sitl_default
|
||||||
|
|
||||||
ENV DEBIAN_FRONTEND noninteractive
|
|
||||||
ENV LANG C.UTF-8
|
|
||||||
ENV LC_ALL C.UTF-8
|
|
||||||
|
|
||||||
RUN apt-get update && apt-get install -y gnupg
|
|
||||||
|
|
||||||
|
|
||||||
#RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
|
|
||||||
#RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
|
|
||||||
sudo \
|
|
||||||
nano \
|
|
||||||
gedit \
|
|
||||||
net-tools \
|
|
||||||
iputils-* \
|
|
||||||
bash-completion \
|
|
||||||
autotools-dev \
|
|
||||||
dh-autoreconf \
|
|
||||||
bzip2 \
|
|
||||||
ca-certificates \
|
|
||||||
ccache \
|
|
||||||
cmake \
|
|
||||||
cppcheck \
|
|
||||||
curl \
|
|
||||||
dirmngr \
|
|
||||||
doxygen \
|
|
||||||
file \
|
|
||||||
g++ \
|
|
||||||
gcc \
|
|
||||||
gdb \
|
|
||||||
git \
|
|
||||||
gnupg \
|
|
||||||
gosu \
|
|
||||||
lcov \
|
|
||||||
libfreetype6-dev \
|
|
||||||
libgtest-dev \
|
|
||||||
libpng-dev \
|
|
||||||
lsb-release \
|
|
||||||
make \
|
|
||||||
ninja-build \
|
|
||||||
openjdk-8-jdk \
|
|
||||||
openjdk-8-jre \
|
|
||||||
openssh-client \
|
|
||||||
pkg-config \
|
|
||||||
python-pip \
|
|
||||||
python-pygments \
|
|
||||||
python-setuptools \
|
|
||||||
python-wstool \
|
|
||||||
python3-dev \
|
|
||||||
python3-pip \
|
|
||||||
python3-pygments \
|
|
||||||
python3-setuptools \
|
|
||||||
locate \
|
|
||||||
rsync \
|
|
||||||
shellcheck \
|
|
||||||
tzdata \
|
|
||||||
unzip \
|
|
||||||
wget \
|
|
||||||
xsltproc \
|
|
||||||
zip \
|
|
||||||
xterm \
|
|
||||||
vim \
|
|
||||||
&& apt-get -y autoremove \
|
|
||||||
&& apt-get clean autoclean \
|
|
||||||
&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
|
|
||||||
|
|
||||||
RUN python -m pip install --upgrade pip \
|
|
||||||
&& pip install setuptools pkgconfig wheel \
|
|
||||||
&& pip install argparse argcomplete coverage jinja2 empy numpy requests serial toml pyyaml cerberus
|
|
||||||
|
|
||||||
# Python 3 dependencies installed by pip
|
|
||||||
RUN pip3 install argparse argcomplete coverage cerberus empy jinja2 \
|
|
||||||
matplotlib==3.0.* numpy pkgconfig pyros-genmsg pyulog pyyaml \
|
|
||||||
requests serial toml pyulog wheel
|
|
||||||
|
|
||||||
|
|
||||||
# create arrow with id 1000 with sudo access
|
|
||||||
RUN useradd --shell /bin/bash -u 1000 -c "" -m arrow && usermod -a -G dialout arrow && echo "arrow:arrow" | chpasswd && adduser arrow sudo
|
|
||||||
RUN sed -i '/force_color_prompt/s/^#//g' ~/.bashrc
|
|
||||||
RUN sed -i '/force_color_prompt/s/^#//g' /home/arrow/.bashrc
|
|
||||||
|
|
||||||
# setup virtual X server
|
|
||||||
RUN mkdir /tmp/.X11-unix && \
|
|
||||||
chmod 1777 /tmp/.X11-unix && \
|
|
||||||
chown -R root:root /tmp/.X11-unix
|
|
||||||
ENV DISPLAY :99
|
|
||||||
|
|
||||||
ENV CCACHE_UMASK=000
|
|
||||||
ENV FASTRTPSGEN_DIR="/usr/local/bin/"
|
|
||||||
ENV PATH="/usr/lib/ccache:$PATH"
|
|
||||||
ENV TERM=xterm
|
|
||||||
ENV TZ=UTC
|
|
||||||
|
|
||||||
RUN echo "source /etc/profile.d/bash_completion.sh" >> /home/arrow/.bashrc
|
|
||||||
|
|
||||||
# SITL UDP PORTS
|
|
||||||
EXPOSE 14556/udp
|
|
||||||
EXPOSE 14557/udp
|
|
||||||
|
|
||||||
|
|
||||||
#start of ros install
|
|
||||||
ENV ROS_DISTRO melodic
|
|
||||||
ARG TOKEN
|
|
||||||
|
|
||||||
|
|
||||||
RUN echo "arrow" | sudo -S apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
|
|
||||||
|
|
||||||
RUN echo "arrow" | sudo -S apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub
|
|
||||||
RUN pip3 install --upgrade pip
|
|
||||||
|
|
||||||
RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \
|
|
||||||
&& sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
|
|
||||||
&& apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
|
|
||||||
&& sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list' \
|
|
||||||
&& sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-shadow.list' \
|
|
||||||
&& curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - \
|
|
||||||
&& apt-get update \
|
|
||||||
&& apt-get -y upgrade \
|
|
||||||
&& apt-get -y dist-upgrade \
|
|
||||||
&& DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
|
||||||
ant \
|
|
||||||
gazebo9 \
|
|
||||||
gstreamer1.0-plugins-bad \
|
|
||||||
gstreamer1.0-plugins-base \
|
|
||||||
gstreamer1.0-plugins-good \
|
|
||||||
gstreamer1.0-plugins-ugly \
|
|
||||||
libeigen3-dev \
|
|
||||||
libgazebo9-dev \
|
|
||||||
libgstreamer-plugins-base1.0-dev \
|
|
||||||
libimage-exiftool-perl \
|
|
||||||
libopencv-dev \
|
|
||||||
libxml2-utils \
|
|
||||||
pkg-config \
|
|
||||||
protobuf-compiler \
|
|
||||||
geographiclib-tools \
|
|
||||||
libeigen3-dev \
|
|
||||||
libgeographic-dev \
|
|
||||||
libopencv-dev \
|
|
||||||
python-catkin-tools \
|
|
||||||
python-tk \
|
|
||||||
python3-pip \
|
|
||||||
ros-$ROS_DISTRO-gazebo-ros-pkgs \
|
|
||||||
ros-$ROS_DISTRO-mavlink \
|
|
||||||
ros-$ROS_DISTRO-mavros \
|
|
||||||
ros-$ROS_DISTRO-mavros-extras \
|
|
||||||
ros-$ROS_DISTRO-pcl-conversions \
|
|
||||||
ros-$ROS_DISTRO-pcl-msgs \
|
|
||||||
ros-$ROS_DISTRO-pcl-ros \
|
|
||||||
ros-$ROS_DISTRO-ros-base \
|
|
||||||
ros-$ROS_DISTRO-rostest \
|
|
||||||
ros-$ROS_DISTRO-rosunit \
|
|
||||||
ros-$ROS_DISTRO-xacro \
|
|
||||||
ros-$ROS_DISTRO-tf2-ros \
|
|
||||||
ros-$ROS_DISTRO-roslint \
|
|
||||||
ros-$ROS_DISTRO-rviz \
|
|
||||||
xvfb \
|
|
||||||
python-pil \
|
|
||||||
python-yaml \
|
|
||||||
libgeos-dev \
|
|
||||||
python-lxml \
|
|
||||||
libgdal-dev \
|
|
||||||
build-essential \
|
|
||||||
python-dev \
|
|
||||||
libjpeg-dev \
|
|
||||||
zlib1g-dev \
|
|
||||||
libfreetype6-dev \
|
|
||||||
python-virtualenv \
|
|
||||||
python-rosdep \
|
|
||||||
&& geographiclib-get-geoids egm96-5 \
|
|
||||||
&& apt-get -y autoremove \
|
|
||||||
&& apt-get clean autoclean \
|
|
||||||
&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* \
|
|
||||||
&& pip3 install setuptools wheel \
|
|
||||||
&& pip3 install pyulog matplotlib \
|
|
||||||
&& pip3 install catkin_pkg px4tools pymavlink \
|
|
||||||
&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
RUN echo "source /opt/ros/melodic/setup.bash" >> /home/arrow/.bashrc
|
|
||||||
|
|
||||||
|
|
||||||
# install MAVLink headers
|
|
||||||
RUN git clone --depth 1 https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink/v2.0 && rm -rf /usr/local/include/mavlink/v2.0/.git
|
|
||||||
|
|
||||||
# Some QT-Apps/Gazebo don't not show controls without this
|
|
||||||
ENV QT_X11_NO_MITSHM 1
|
|
||||||
|
|
||||||
# Use UTF8 encoding in java tools (needed to compile jMAVSim)
|
|
||||||
ENV JAVA_TOOL_OPTIONS=-Dfile.encoding=UTF8
|
|
||||||
|
|
||||||
# Install MAVSDK library
|
|
||||||
RUN wget https://github.com/mavlink/MAVSDK/releases/download/v0.23.0/mavsdk_0.23.0_ubuntu18.04_amd64.deb \
|
|
||||||
&& dpkg -i mavsdk_0.23.0_ubuntu18.04_amd64.deb
|
|
||||||
|
|
||||||
RUN rosdep init && su -c "rosdep update -c /home/arrow/.ros/rosdep/sources.cache" - arrow
|
|
||||||
RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
|
|
||||||
|
|
||||||
USER arrow
|
|
||||||
ENV ARROW_HOME /home/arrow
|
|
||||||
ENV CATKIN_WS $ARROW_HOME/catkin_ws
|
|
||||||
|
|
||||||
RUN echo "Working Folder is:$ARROW_HOME"
|
|
||||||
|
|
||||||
RUN echo "Setting up the workspace"
|
|
||||||
#Create & build catkin_ws
|
|
||||||
RUN mkdir -p $ARROW_HOME/catkin_ws/src \
|
|
||||||
&& echo "arrow" | sudo -S chown -R arrow:arrow $ARROW_HOME/catkin_ws \
|
|
||||||
&& cd ~/catkin_ws \
|
|
||||||
&& catkin init \
|
|
||||||
&& catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release \
|
|
||||||
&& catkin config --merge-devel \
|
|
||||||
&& catkin config --extend /opt/ros/$ROS_DISTRO \
|
|
||||||
&& catkin build \
|
|
||||||
&& cd ~/catkin_ws/src
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
#start of px4 setup
|
|
||||||
|
|
||||||
RUN echo "arrow" | sudo -S apt-get update && sudo apt-get -y --quiet --no-install-recommends install software-properties-common apt-utils
|
|
||||||
|
|
||||||
RUN sed -i '/source ~\/catkin_ws\/devel\/setup.bash/d' $HOME/.bashrc && \
|
|
||||||
sed -i 's+source /opt/ros/melodic/setup.bash+source /opt/ros/melodic/setup.bash\nsource ~/catkin_ws/devel/setup.bash+g' $ARROW_HOME/.bashrc
|
|
||||||
|
|
||||||
# Install some useful ros tf packages
|
|
||||||
RUN echo "arrow" | sudo -S apt-get install ros-melodic-tf-conversions ros-melodic-rqt-tf-tree -y
|
|
||||||
RUN if [ ! -d "$ARROW_HOME/src" ]; then \
|
|
||||||
mkdir -p $ARROW_HOME/src; fi
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
RUN git clone https://git.spirirobotics.com/scorpio1/oscillation_ctrl.git ~/catkin_ws/src/oscillation_ctrl
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
RUN pip3 install --user jsonschema
|
|
||||||
RUN cd $ARROW_HOME \
|
|
||||||
&& git clone https://github.com/PX4/PX4-Autopilot.git --recursive \
|
|
||||||
&& cd PX4-Autopilot \
|
|
||||||
&& echo 'argcomplete \n\
|
|
||||||
argparse>=1.2 \n\
|
|
||||||
cerberus \n\
|
|
||||||
coverage \n\
|
|
||||||
empy>=3.3 \n\
|
|
||||||
future \n\
|
|
||||||
jinja2>=2.8 \n\
|
|
||||||
jsonschema \n\
|
|
||||||
kconfiglib \n\
|
|
||||||
lxml \n\
|
|
||||||
matplotlib>=3.0.* \n\
|
|
||||||
numpy>=1.13 \n\
|
|
||||||
nunavut>=1.1.0 \n\
|
|
||||||
packaging \n\
|
|
||||||
pandas>=0.21 \n\
|
|
||||||
pkgconfig \n\
|
|
||||||
psutil \n\
|
|
||||||
pygments \n\
|
|
||||||
wheel>=0.31.1 \n\
|
|
||||||
pymavlink \n\
|
|
||||||
pyros-genmsg \n\
|
|
||||||
pyserial \n\
|
|
||||||
pyulog>=0.5.0 \n\
|
|
||||||
pyyaml \n\
|
|
||||||
requests \n\
|
|
||||||
setuptools>=39.2.0 \n\
|
|
||||||
six>=1.12.0 \n\
|
|
||||||
toml>=0.9' > Tools/setup/requirements.txt \
|
|
||||||
&& echo "arrow" | sudo -S bash ./Tools/setup/ubuntu.sh \
|
|
||||||
&& echo "arrow" | sudo -SH pip3 install kconfiglib \
|
|
||||||
&& DONT_RUN=1 make px4_sitl_default gazebo
|
|
||||||
|
|
||||||
|
|
||||||
RUN echo "export PATH=\$PATH:/home/arrow/.local/bin:/home/arrow/.local/bin" >> /home/arrow/.bashrc
|
|
||||||
RUN echo "export PATH=\$PATH:/usr/local/cuda-10.1/bin" >> /home/arrow/.bashrc
|
|
||||||
RUN echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:/usr/local/cuda-10.1/lib64:/usr/local/cuda-10.1/targets/x86_64-linux/lib/:/usr/local/cuda/extras/CUPTI/lib64/" >> /home/arrow/.bashrc
|
|
||||||
RUN echo "export CUDA_HOME=/usr/local/cuda" >> /home/arrow/.bashrc
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
RUN echo "arrow" | sudo -S apt-get update
|
|
||||||
RUN echo "arrow" | sudo -S pip install scipy
|
|
||||||
RUN echo "arrow" | sudo -S apt install ros-melodic-tf2-geometry-msgs
|
|
||||||
RUN bash ~/catkin_ws/src/oscillation_ctrl/px4_setup/ubuntu_sim_ros_melodic.sh
|
|
||||||
RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
|
|
||||||
#setup models for px4
|
|
||||||
RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/airframe_changes ~/PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake
|
|
||||||
RUN mkdir -p ~/PX4-Autopilot/Tools/sitl_gazebo/models
|
|
||||||
RUN mkdir -p ~/PX4-Autopilot/Tools/sitl_gazebo/worlds
|
|
||||||
RUN cp -R ~/catkin_ws/src/oscillation_ctrl/models/* ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
|
|
||||||
RUN cp -R ~/catkin_ws/src/oscillation_ctrl/worlds/* ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds
|
|
||||||
RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
|
|
||||||
RUN cp ~/catkin_ws/src/oscillation_ctrl/px4_setup/CMakeLists.txt ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/CMakeLists.txt
|
|
||||||
RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
|
|
||||||
RUN mkdir -p /home/arrow/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes
|
|
||||||
RUN cp -R ~/catkin_ws/src/oscillation_ctrl/airframes/18.04/* ~/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix
|
|
||||||
RUN cd ~/PX4-Autopilot && DONT_RUN=1 make px4_sitl_default gazebo
|
|
||||||
RUN bash ~/catkin_ws/src/oscillation_ctrl/px4_setup/px4setup.sh
|
|
||||||
|
|
||||||
#install QGroundControl
|
|
||||||
RUN echo "arrow" | sudo -S apt-get remove modemmanager -y
|
|
||||||
RUN echo "arrow" | sudo -S apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl libqt5gui5 libfuse2 libpulse-dev fuse xmlstarlet -y
|
|
||||||
RUN cd ~ && wget https://github.com/mavlink/qgroundcontrol/releases/download/v4.2.6/QGroundControl.AppImage
|
|
||||||
#final setup
|
|
||||||
SHELL ["/bin/bash", "-c"]
|
|
||||||
RUN cd ~/PX4-Autopilot\
|
|
||||||
&& source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default \
|
|
||||||
&& export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd) \
|
|
||||||
&& export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/simulation/gazebo-classic/sitl_gazebo-classic
|
|
||||||
|
|
|
||||||
108
compose.yaml
108
compose.yaml
|
|
@ -1,31 +1,85 @@
|
||||||
services:
|
services:
|
||||||
px4:
|
px4:
|
||||||
build: Docker_PX4
|
build: Docker_PX4
|
||||||
command: bash -c "source /opt/ros/melodic/setup.bash &&
|
tty: true
|
||||||
source home/arrow/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash home/arrow/PX4-Autopilot/ home/arrow/PX4-Autopilot//build/px4_sitl_default &&
|
command: make px4_sitl gz_x500
|
||||||
export ROS_PACKAGE_PATH=/home/arrow/catkin_ws/src/oscillation_ctrl:/opt/ros/melodic/share:/home/arrow/PX4-Autopilot:/home/arrow/PX4-Autopilot/Tools/sitl_gazebo:/home/arrow/PX4-Autopilot:/home/arrow/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic &&
|
# command: ign gazebo shapes.sdf --render-engine ogre
|
||||||
|
# command: glxgears
|
||||||
|
#Make this work with non-nvidia gpus
|
||||||
|
privileged: true
|
||||||
|
volumes:
|
||||||
|
- /tmp/.X11-unix:/tmp/.X11-unix:rw
|
||||||
|
|
||||||
roslaunch px4 multi_uav_mavros_sitl_sdf.launch vehicle:=spiri"
|
environment:
|
||||||
tty: true
|
- "QT_X11_NO_MITSHM=1"
|
||||||
privileged: true
|
# - "HEADLESS=1"
|
||||||
volumes:
|
- DISPLAY=$DISPLAY
|
||||||
- /tmp/.X11-unix:/tmp/.X11-unix:rw
|
# - ROS_MASTER_URI=http://ros-master:11311
|
||||||
|
depends_on:
|
||||||
|
ros-master:
|
||||||
|
condition: service_healthy
|
||||||
|
ports:
|
||||||
|
- 14570:14570/udp
|
||||||
|
deploy:
|
||||||
|
resources:
|
||||||
|
limits:
|
||||||
|
# cpus: '0.01'
|
||||||
|
memory: 1G
|
||||||
|
reservations:
|
||||||
|
devices:
|
||||||
|
#Make this work with nvidia gpus
|
||||||
|
- driver: nvidia
|
||||||
|
count: 1
|
||||||
|
capabilities: [gpu]
|
||||||
|
|
||||||
environment:
|
# PX4_simulator:
|
||||||
- "QT_X11_NO_MITSHM=1"
|
# image: px4io/px4-dev-ros-noetic
|
||||||
- DISPLAY=$DISPLAY
|
# command: make px4_sitl gz_x500
|
||||||
ports:
|
# environment:
|
||||||
- 14570:14570/udp
|
# - "ROS_MASTER_URI=http://ros-master:11311"
|
||||||
#deploy:
|
# - "DISPLAY"
|
||||||
#resources:
|
# - "QT_X11_NO_MITSHM=1" #fix some QT bugs
|
||||||
#reservations:
|
# volumes:
|
||||||
#devices:
|
# #share your x11 socket and permissions to the container
|
||||||
#- driver: nvidia
|
# - /tmp/.X11-unix:/tmp/.X11-unix:rw
|
||||||
#
|
# depends_on:
|
||||||
# capabilities: [gpu]
|
# ros-master:
|
||||||
ros:
|
# condition: service_healthy
|
||||||
build: Docker_ROS
|
|
||||||
command: bash
|
|
||||||
tty: true
|
|
||||||
privileged: true
|
|
||||||
|
|
||||||
|
ros-master:
|
||||||
|
image: ros:noetic-ros-core
|
||||||
|
#command: roscore
|
||||||
|
command: stdbuf -o L roscore
|
||||||
|
environment:
|
||||||
|
- "ROS_MASTER_URI=http://ros-master:11311"
|
||||||
|
healthcheck:
|
||||||
|
test: ["CMD", "/ros_entrypoint.sh", "rostopic", "list"]
|
||||||
|
retries: 6
|
||||||
|
restart: always
|
||||||
|
deploy:
|
||||||
|
resources:
|
||||||
|
limits:
|
||||||
|
# cpus: '0.01'
|
||||||
|
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
|
||||||
|
|
||||||
|
rqt:
|
||||||
|
image: osrf/ros:noetic-desktop-full
|
||||||
|
depends_on:
|
||||||
|
ros-master:
|
||||||
|
condition: service_healthy
|
||||||
|
environment:
|
||||||
|
- "ROS_MASTER_URI=http://ros-master:11311"
|
||||||
|
- "DISPLAY"
|
||||||
|
- "QT_X11_NO_MITSHM=1" #fix some QT bugs
|
||||||
|
#share your user to the container in order to access your x11
|
||||||
|
user: 1000:1000 #adapt as needed!
|
||||||
|
volumes:
|
||||||
|
#share your x11 socket and permissions to the container
|
||||||
|
- /tmp/.X11-unix:/tmp/.X11-unix:rw
|
||||||
|
command: rqt
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue