selfpatch_demos/demos/turtlebot3_integration/docker-compose.yml at main · selfpatch/selfpatch_demos · GitHub

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services:
  # CPU-only version (default)
  # Use with: docker compose --profile cpu up
  turtlebot3-demo:
    profiles: ["cpu"]
    build:
      context: .
      dockerfile: Dockerfile
      args:
        ROS2_MEDKIT_REF: "${ROS2_MEDKIT_REF:-main}"
    container_name: turtlebot3_medkit_demo
    environment:
      - DISPLAY=${DISPLAY}
      - TURTLEBOT3_MODEL=burger
      - ROS_DOMAIN_ID=30
      - HEADLESS=${HEADLESS:-false}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
    ports:
      - "8080:8080"
    stdin_open: true
    tty: true
    command: >
      bash -c "mkdir -p /var/lib/ros2_medkit/rosbags &&
               source /opt/ros/jazzy/setup.bash &&
               source /root/demo_ws/install/setup.bash &&
               export TURTLEBOT3_MODEL=burger &&
               ros2 launch turtlebot3_medkit_demo demo.launch.py headless:=$${HEADLESS}"

  # NVIDIA GPU accelerated version
  # Use with: docker compose --profile nvidia up
  # Requires: nvidia-container-toolkit
  # Install:
  # https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html
  turtlebot3-demo-nvidia:
    profiles: ["nvidia"]
    build:
      context: .
      dockerfile: Dockerfile
      args:
        ROS2_MEDKIT_REF: "${ROS2_MEDKIT_REF:-main}"
    container_name: turtlebot3_medkit_demo_nvidia
    environment:
      - DISPLAY=${DISPLAY}
      - TURTLEBOT3_MODEL=burger
      - ROS_DOMAIN_ID=30
      - HEADLESS=${HEADLESS:-false}
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
    ports:
      - "8080:8080"
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]
    stdin_open: true
    tty: true
    command: >
      bash -c "mkdir -p /var/lib/ros2_medkit/rosbags &&
               source /opt/ros/jazzy/setup.bash &&
               source /root/demo_ws/install/setup.bash &&
               export TURTLEBOT3_MODEL=burger &&
               ros2 launch turtlebot3_medkit_demo demo.launch.py headless:=$${HEADLESS}"

  # For CI testing - headless Gazebo, tests run externally
  turtlebot3-demo-ci:
    profiles: ["ci"]
    build:
      context: .
      dockerfile: Dockerfile
      args:
        ROS2_MEDKIT_REF: "${ROS2_MEDKIT_REF:-main}"
    container_name: turtlebot3_medkit_demo_ci
    environment:
      - TURTLEBOT3_MODEL=burger
      - ROS_DOMAIN_ID=30
    ports:
      - "8080:8080"
    command: >
      bash -c "mkdir -p /var/lib/ros2_medkit/rosbags &&
               source /opt/ros/jazzy/setup.bash &&
               source /root/demo_ws/install/setup.bash &&
               export TURTLEBOT3_MODEL=burger &&
               ros2 launch turtlebot3_medkit_demo demo.launch.py headless:=true"

  medkit-web-ui:
    image: ghcr.io/selfpatch/ros2_medkit_web_ui:latest
    container_name: ros2_medkit_web_ui
    ports:
      - "3000:80"