docker-compose.yml

version: '3.4'

networks:
  ros-network:
    driver: bridge
    ipam:
      config:
        - subnet: ${SUBNET}

services:
  ros-core-service:
    tty: true
    image: ros-core:${ROS_DISTRO}
    build:
      context: ./images/ros-core-image/
      dockerfile: Dockerfile
      args:
        ROS_DISTRO: ${ROS_DISTRO}
    container_name: ros-core-container
    hostname: ros-core
    networks:
      ros-network:
        ipv4_address: ${ROS_IP_CORE}
    environment:
      - ROS_MASTER_URI=http://${ROS_IP_CORE}:11311
      - ROS_IP=${ROS_IP_CORE}
    entrypoint: /entrypoint.bash
    command: roscore

  mujoco-ws-service:
    tty: true
    image: mujoco-ws:${ROS_DISTRO}
    build:
      context: ./images/mujoco-ws-image/
      dockerfile: Dockerfile
      args:
        ROS_DISTRO: ${ROS_DISTRO}
    container_name: mujoco-ws-container
    hostname: mujoco-ws
    networks:
      ros-network:
        ipv4_address: ${ROS_IP_MUJOCO_WS}
    environment:
      - HOST_IP=${HOST_IP}
      - ROS_MASTER_URI=http://ros-core:11311
      - ROS_IP=${ROS_IP_MUJOCO_WS}
    volumes:
      - ./images/mujoco-ws-image/src:/home/mujoco_ws/src:rw
    entrypoint: /entrypoint.bash
    command: sh -c "sleep 1 && roslaunch zoo_mujoco zoo_bringup.launch"
    depends_on:
      - ros-core-service

  giskard-ws-service:
    tty: true
    image: giskard-ws:${ROS_DISTRO}
    build:
      context: ./images/giskard-ws-image/
      dockerfile: Dockerfile
      args:
        ROS_DISTRO: ${ROS_DISTRO}
    container_name: giskard-container
    hostname: giskard-ws
    networks:
      ros-network:
        ipv4_address: ${ROS_IP_GISKARD_WS}
    environment:
      - HOST_IP=${HOST_IP}
      - ROS_MASTER_URI=http://ros-core:11311
      - ROS_IP=${ROS_IP_GISKARD_WS}
    volumes:
      - ./images/giskard-ws-image/src:/home/giskard_ws/src:rw
      - ./images/giskard-ws-image/gurobi.lic:/opt/gurobi/gurobi.lic:ro
    entrypoint: /entrypoint.bash
    command: sh -c "sleep 1 && roslaunch giskardpy giskardpy_ridgeback_panda.launch"
    depends_on:
      - mujoco-ws-service

  rviz-service:
    # visible output of local simulation as rviz view.
    tty: true
    image: rviz:${ROS_DISTRO}
    build:
      context: ./images/rviz-image/
      dockerfile: Dockerfile
      args:
        ROS_DISTRO: ${ROS_DISTRO}
    container_name: rviz-container
    hostname: rviz
    networks:
      ros-network:
        ipv4_address: ${ROS_IP_RVIZ}
    environment:
      - ROS_MASTER_URI=http://ros-core:11311
      - DISPLAY
      - QT_X11_NO_MITSHM=1 #fix some QT bugs
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./rviz-config:/rviz-config:z
    entrypoint: /entrypoint.bash
    command:
      [
        "rosrun",
        "rviz",
        "rviz",
        "--display-config",
        "/rviz-config/rviz.rviz"
      ]
    depends_on:
      - mujoco-ws-service