m5p3nc3r
ec554bcf2c
Uses the mecanum controller properly across physical and virtual There is a timing issue with i2c which is why the control update is limited to 10hz The sonar and LED's arent yet working, this will come soon.
147 lines
3.7 KiB
YAML
147 lines
3.7 KiB
YAML
# Both containers share the host network so ROS 2 DDS discovery works without
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# any extra multicast configuration. Each container is given access only to
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# the specific device it needs rather than running in privileged mode.
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services:
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robot:
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build:
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context: ./raspbot_v2
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dockerfile: Dockerfile
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platforms:
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- linux/arm64
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image: raspbot_v2:latest
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network_mode: host
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ipc: host
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devices:
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- /dev/i2c-1:/dev/i2c-1
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environment:
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- ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
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# Required for ros2_control to set SCHED_FIFO real-time thread priority.
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# See https://control.ros.org/kilted/doc/ros2_control/controller_manager/doc/userdoc.html#determinism
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cap_add:
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- SYS_NICE
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ulimits:
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rtprio: 99
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memlock: -1
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restart: unless-stopped
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lidar:
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build:
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context: .
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dockerfile: lidar/Dockerfile
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platforms:
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- linux/amd64
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- linux/arm64
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image: raspbot_v2_lidar:latest
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network_mode: host
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ipc: host
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devices:
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- ${LIDAR_PORT:-/dev/ttyUSB0}:${LIDAR_PORT:-/dev/ttyUSB0}
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environment:
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- ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
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command:
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- ros2
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- launch
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- sllidar_ros2
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- sllidar_a1_launch.py
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- serial_port:=${LIDAR_PORT:-/dev/ttyUSB0}
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- frame_id:=${LIDAR_FRAME_ID:-laser}
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- serial_baudrate:=115200
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- angle_compensate:=true
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restart: unless-stopped
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oled:
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build:
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context: .
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dockerfile: oled/Dockerfile
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platforms:
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- linux/arm64
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image: raspbot_v2_oled:latest
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network_mode: host
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ipc: host
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devices:
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- /dev/i2c-1:/dev/i2c-1
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environment:
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- ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
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restart: unless-stopped
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wifi:
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build:
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context: wifi
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dockerfile: Dockerfile
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platforms:
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- linux/arm64
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image: raspbot_v2_wifi:latest
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network_mode: host
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cap_add:
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- NET_ADMIN
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volumes:
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- /run/dbus/system_bus_socket:/run/dbus/system_bus_socket
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environment:
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- WIFI_SSID=${WIFI_SSID:-}
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- HOTSPOT_SSID=${HOTSPOT_SSID:-raspbot-hotspot}
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- HOTSPOT_PASSWORD=${HOTSPOT_PASSWORD:-raspbot1234}
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- HOTSPOT_BAND=${HOTSPOT_BAND:-bg}
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- WIFI_IFACE=${WIFI_IFACE:-}
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- WIFI_TIMEOUT=${WIFI_TIMEOUT:-30}
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- POLL_INTERVAL=${POLL_INTERVAL:-15}
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restart: unless-stopped
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webui:
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build:
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context: webui
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dockerfile: Dockerfile
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platforms:
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- linux/arm64
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args:
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# Hostname of the GStreamer signaling server, baked into the frontend bundle.
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# Override with: VITE_WEBRTC_HOST=raspbot-v2.local
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VITE_WEBRTC_HOST: ${VITE_WEBRTC_HOST:-}
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image: raspbot_v2_webui:latest
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network_mode: host
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ipc: host
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environment:
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- ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
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restart: unless-stopped
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camera_publisher:
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build:
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context: ./camera_publisher
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platforms:
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- linux/amd64
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- linux/arm64
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image: ${REGISTRY:-camera-publisher}:${TAG:-latest}
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restart: unless-stopped
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network_mode: host
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ipc: host
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devices:
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- /dev/video0:/dev/video0
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- /dev/video1:/dev/video1
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- /dev/media0:/dev/media0
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environment:
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VIDEO_DEVICE: /dev/video0
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WIDTH: 640
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HEIGHT: 480
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FPS: 30
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CAMERA_FORMAT: mjpeg
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CAMERA_NAMESPACE: /camera
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FASTDDS_BUILTIN_TRANSPORTS: LARGE_DATA
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webrtc_streamer:
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build:
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context: ./webrtc_streamer
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platforms:
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- linux/amd64
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- linux/arm64
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image: ${REGISTRY:-webrtc-streamer}:${TAG:-latest}
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restart: unless-stopped
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network_mode: host
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ipc: host
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environment:
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IMAGE_TOPIC: /camera/image_raw
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PORT: 8443
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BITRATE: 2000000
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FASTDDS_BUILTIN_TRANSPORTS: LARGE_DATA
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