husarion_ugv_autonomy_ros/docker/compose.hardware.yaml at ros2 · husarion/husarion_ugv_autonomy_ros · GitHub

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x-common-config:
  &common-config
  network_mode: host
  ipc: host
  env_file: .env

services:

  docking:
    # image: husarion/husarion-ugv-autonomy:jazzy-jazzy-devel
    build:
      context: ..
      dockerfile: docker/Dockerfile
    container_name: docking
    <<: *common-config
    volumes:
      - ./config:/config
      - ../husarion_ugv_docking:/ros2_ws/src/husarion_ugv_autonomy_ros/husarion_ugv_docking
    command: >
      ros2 launch husarion_ugv_docking docking.launch.py
        namespace:=${ROBOT_NAMESPACE:-panther}
        use_wibotic_info:=${USE_WIBOTIC_INFO:-True}
        camera_image_topic:=${CAMERA_IMAGE_TOPIC:-/panther/camera/color/image_raw}
        camera_info_topic:=${CAMERA_INFO_TOPIC:-/panther/camera/color/camera_info}
        apriltag_output_dir:=/config/apriltags
        apriltag_size:=0.08
        use_sim:=False

  navigation:
    # image: husarion/husarion-ugv-autonomy:jazzy-jazzy-devel
    build:
      context: ..
      dockerfile: docker/Dockerfile
    container_name: navigation
    <<: *common-config
    volumes:
      - ./config:/config
      - ../maps:/maps
      - ../husarion_ugv_navigation:/ros2_ws/src/husarion_ugv_autonomy_ros/husarion_ugv_navigation
    command: >
      ros2 launch husarion_ugv_navigation bringup_launch.py
        namespace:=${ROBOT_NAMESPACE:-panther}
        observation_topic:=${OBSERVATION_TOPIC:-err}
        observation_topic_type:=${OBSERVATION_TOPIC_TYPE:-err}
        slam:=${SLAM:-True}
        use_sim_time:=False
        robot_model:=${ROBOT_MODEL:-panther}