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* install coder * corrected installation * added code server startup * add docker-compose configuration for development environment * update docker-compose configurations for limo_drivers with build context and caching * change name * feat: add pull policy to the limo_drivers container * fix: configure pull policy and have the dev version derive more directly * removed dedicated network IP range, was pointless anyway --------- Co-authored-by: Josh Cooper <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,136 @@ | ||
| name: limo_platform | ||
| services: | ||
| filebrowser: | ||
| image: filebrowser/filebrowser | ||
| pull_policy: always | ||
| networks: | ||
| - rosnet | ||
| ports: | ||
| - 8080:8080 | ||
| volumes: | ||
| - ${HOME}:/srv | ||
| command: -r /srv --noauth -b "${HOME}" -d /tmp/database.db -p 8080 --disable-exec | ||
|
|
||
| zenoh_router: | ||
| image: eclipse/zenoh-bridge-ros2dds:latest | ||
| pull_policy: always | ||
| networks: | ||
| - rosnet | ||
| # expose REST API, and Zenoh API | ||
| ports: | ||
| - 7447:7447 | ||
| - 8000:8000 | ||
|
|
||
| # start the Zenoh router to allow remote access on port 8888 | ||
| # also allows REST API access via Zenoh on port 8080 | ||
| #command: "-r 8000 -l tcp/0.0.0.0:7447 router" | ||
| command: "-c /etc/zenoh/zenoh.json5 router" | ||
| volumes: | ||
| - /etc/localtime:/etc/localtime:ro | ||
| - /etc/timezone:/etc/timezone:ro | ||
| - ./zenoh.json5:/etc/zenoh/zenoh.json5:ro | ||
| links: | ||
| - limo_drivers | ||
|
|
||
| # need to set ROS_DISTRO to the correct version for the bridge to work correctly | ||
| environment: | ||
| - ROS_DISTRO=humble | ||
|
|
||
| limo_drivers: | ||
| image: lcas.lincoln.ac.uk/lcas/limo_platform:staging | ||
| pull_policy: always | ||
| build: | ||
| context: .. | ||
| cache_from: | ||
| - lcas.lincoln.ac.uk/lcas/ros-docker-images:westonrobot-humble-2 | ||
| - lcas.lincoln.ac.uk/cache/lcas/limo_platform:latest | ||
| - lcas.lincoln.ac.uk/lcas/limo_platform:staging | ||
| - lcas.lincoln.ac.uk/lcas/limo_platform:2 | ||
| user: "ros" | ||
|
|
||
| # expose desktop access | ||
| ports: | ||
| # port for novnc | ||
| - 5801:5801 | ||
| - 5901:5901 | ||
| # port for code-serer | ||
| - 9999:9999 | ||
|
|
||
| # NOTE: We expect the environment varibable ROBOT_NAME to be set, e.g. in `.env` | ||
| hostname: "${ROBOT_NAME}" | ||
| # nned privileged mode to access the camera and hardware | ||
| privileged: true | ||
| ipc: host | ||
| #command: bash -c "while true; do sleep 10; done" | ||
| #command: bash -c "zenoh-bridge-ros2dds -r 8080 -l tcp/0.0.0.0:8888" | ||
| command: bash -c "source /opt/ros/lcas/install/setup.bash; echo $$CYCLONEDDS_URI; (code-server --auth none -an ${ROBOT_NAME} --bind-addr 0.0.0.0:9999 &);(ros2 launch astra_camera dabai.launch.py &); ros2 launch limo_bringup limo_start.launch.py" | ||
| volumes: | ||
| - /dev:/dev | ||
| - ${HOME}:/home/ros/robot_home | ||
| - /etc/localtime:/etc/localtime:ro | ||
| - /etc/timezone:/etc/timezone:ro | ||
| runtime: nvidia | ||
| shm_size: '2gb' | ||
| environment: | ||
| # always use virtual desktop | ||
| - DISPLAY:1 | ||
|
|
||
| # - > | ||
| # CYCLONEDDS_URI= | ||
| # <CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd"> | ||
| # <Domain id="0"> | ||
| # <General> | ||
| # <AllowMulticast>true</AllowMulticast> | ||
| # <MaxMessageSize>65500B</MaxMessageSize> | ||
| # <FragmentSize>4000B</FragmentSize> | ||
| # <Transport>udp</Transport> | ||
| # <Interfaces> | ||
| # <NetworkInterface name="eth0"/> | ||
| # </Interfaces> | ||
| # </General> | ||
| # <Discovery> | ||
| # <Peers> | ||
| # <!--<Peer address="limo_drivers"/>--> | ||
| # <!--<Peer address="LIMO-1522"/>--> | ||
| # <!--<Peer address="[IPV6-address]"/>--> | ||
| # </Peers> | ||
| # <ParticipantIndex>auto</ParticipantIndex> | ||
| # <MaxAutoParticipantIndex>100</MaxAutoParticipantIndex> | ||
| # </Discovery> | ||
| # <Internal> | ||
| # <Watermarks> | ||
| # <WhcHigh>500kB</WhcHigh> | ||
| # </Watermarks> | ||
| # </Internal> | ||
| # <Tracing> | ||
| # <Verbosity>info</Verbosity> | ||
| # <OutputFile>stderr</OutputFile> | ||
| # </Tracing> | ||
| # </Domain> | ||
| # </CycloneDDS> | ||
| # - 'LIBGL_ALWAYS_SOFTWARE=1' | ||
| # - 'ROS_DOMAIN_ID=0' | ||
| # - 'NVIDIA_VISIBLE_DEVICES=all' | ||
| #network_mode: host | ||
| networks: | ||
| - rosnet | ||
| cap_add: | ||
| - NET_ADMIN | ||
| - SYS_PTRACE | ||
| security_opt: | ||
| - seccomp:unconfined | ||
| - apparmor:unconfined | ||
| deploy: | ||
| resources: | ||
| reservations: | ||
| devices: | ||
| - driver: nvidia | ||
| count: 1 | ||
| capabilities: [gpu] | ||
|
|
||
|
|
||
| networks: | ||
| rosnet: | ||
| driver: bridge | ||
| driver_opts: | ||
| com.docker.network.container_iface_prefix: eth |
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