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Copy pathdocker-compose-harmoni-lightweight.yml
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docker-compose-harmoni-lightweight.yml
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version: "3.7"
services:
harmoni_core:
container_name: harmoni_core
build:
context: .
dockerfile: dockerfiles/lightweight/harmoni/dockerfile
network: host
image: cmbirmingham/harmoni-lightweight:latest
init: true
environment:
DISPLAY: $DISPLAY
QT_GRAPHICSSYSTEM: native
ROS_DISTRO: kinetic
ROS_MASTER_URI: http://172.18.3.4:11311
IS_DOCKER_ENV: "true"
ROS_HOSTNAME: harmoni_core
CATKIN_WS: harmoni_catkin_ws
privileged: true
networks:
ros_net:
ipv4_address: 172.18.3.4
hostname: harmoni_core
ports:
- "11312:11312"
- "33691:33691"
- "8081:8081"
devices:
- /dev/dri:/dev/dri
#- /dev/snd:/dev/snd
- /dev/video0:/dev/video0
volumes:
- harmoni_catkin_ws:/root/harmoni_catkin_ws
- ../HARMONI/:/root/local_mount/HARMONI/
# IDEs
- ~/.aws:/root/.aws/
# Configuration
- ./dockerfiles/config/setup_script.sh:/root/.setup_script.sh
- ./dockerfiles/config/dev_setup_script.sh:/root/.dev_setup_script.sh
# Other
- /tmp/.X11-unix:/tmp/.X11-unix
- ~/.config/terminator/config:/root/.config/terminator/config
- ~/.gitconfig:/root/.gitconfig:ro
- ~/.ssh/:/root/.ssh:ro
- ~/.vimrc:/root/.vimrc:ro
- ~/.vim/:/root/.vim/:ro
- /etc/timezone:/etc/timezone:ro
- /etc/localtime:/etc/localtime:ro
working_dir: /root/harmoni_catkin_ws/src/HARMONI
command: bash -c "
terminator -ue \"echo 'Entering harmoni_core Container... \\n start with roscore and rlharmoniservices' && bash\""
ros_w2l:
container_name: ros_w2l
build:
context: .
dockerfile: dockerfiles/lightweight/w2l/dockerfile
network: host
image: cmbirmingham/w2l-lightweight:latest
init: true
environment:
DISPLAY: $DISPLAY
QT_GRAPHICSSYSTEM: native
ROS_DISTRO: kinetic
IS_DOCKER_ENV: "true"
CATKIN_WS: harmoni_catkin_ws
ROS_HOSTNAME: ros_w2l
ROS_MASTER_URI: http://172.18.3.4:11311
depends_on:
- "harmoni_core"
privileged: true
# network_mode: host
networks:
ros_net:
ipv4_address: 172.18.3.3
hostname: ros_w2l
ports:
- "1022:22"
devices:
- /dev/dri:/dev/dri
#- /dev/snd:/dev/snd
- /dev/video0:/dev/video0
volumes:
- ../model/w2l:/root/model/w2l/
- wav2letter:/root/wav2letter
- harmoni_catkin_ws:/root/harmoni_catkin_ws
- ../HARMONI/:/root/local_mount/HARMONI/
# Configuration
- ./dockerfiles/config/setup_script.sh:/root/.setup_script.sh
- ./dockerfiles/config/dev_setup_script.sh:/root/.dev_setup_script.sh
# Other
- /tmp/.X11-unix:/tmp/.X11-unix
- ~/.config/terminator/config:/root/.config/terminator/config
- ~/.gitconfig:/root/.gitconfig:ro
- ~/.ssh/:/root/.ssh:ro
- ~/.vimrc:/root/.vimrc:ro
- ~/.vim/:/root/.vim/:ro
- /etc/timezone:/etc/timezone:ro
- /etc/localtime:/etc/localtime:ro
working_dir: /root/harmoni_catkin_ws/src/HARMONI
command: bash -c "
terminator -ue \"echo 'Entering ros_w2l Container... \\n start with rlspeech' && bash\" "
harmoni_visual_detector:
container_name: harmoni_visual_detector
build:
context: .
dockerfile: dockerfiles/lightweight/harmoni/dockerfile
network: host
image: cmbirmingham/harmoni-lightweight:latest
init: true
environment:
DISPLAY: $DISPLAY
QT_GRAPHICSSYSTEM: native
ROS_DISTRO: kinetic
IS_DOCKER_ENV: "true"
CATKIN_WS: harmoni_catkin_ws
ROS_HOSTNAME: harmoni_visual_detector
ROS_MASTER_URI: http://172.18.3.4:11311
privileged: true
networks:
ros_net:
ipv4_address: 172.18.3.2
hostname: harmoni_visual_detector
depends_on:
- "harmoni_core"
- "harmoni_hardware"
devices:
- /dev/dri:/dev/dri
#- /dev/snd:/dev/snd
- /dev/video0:/dev/video0
volumes:
- ../HARMONI/:/root/local_mount/HARMONI/
# Configuration
- ./dockerfiles/config/setup_script.sh:/root/.setup_script.sh
- ./dockerfiles/config/dev_setup_script.sh:/root/.dev_setup_script.sh
# Other
- /tmp/.X11-unix:/tmp/.X11-unix
- ~/.config/terminator/config:/root/.config/terminator/config
- ~/.gitconfig:/root/.gitconfig:ro
- ~/.ssh/:/root/.ssh:ro
- ~/.vimrc:/root/.vimrc:ro
- ~/.vim/:/root/.vim/:ro
- /etc/timezone:/etc/timezone:ro
- /etc/localtime:/etc/localtime:ro
working_dir: /root/harmoni_catkin_ws/src/HARMONI
command: bash -c "
terminator -ue \"cd ../HARMONI && echo 'Entering harmoni_visual_detector Container... \\n start with rlfacedetect' && bash\""
harmoni_hardware:
container_name: harmoni_hardware
build:
context: .
dockerfile: dockerfiles/lightweight/harmoni/dockerfile
network: host
image: cmbirmingham/harmoni-lightweight:latest
init: true
environment:
DISPLAY: $DISPLAY
QT_GRAPHICSSYSTEM: native
ROS_DISTRO: kinetic
IS_DOCKER_ENV: "true"
CATKIN_WS: harmoni_catkin_ws
ROS_HOSTNAME: harmoni_hardware
ROS_MASTER_URI: http://172.18.3.4:11311
privileged: true
networks:
ros_net:
ipv4_address: 172.18.3.5
hostname: ros_hardware
depends_on:
- "harmoni_core"
devices:
- /dev/dri:/dev/dri
- /dev/snd:/dev/snd
- /dev/video0:/dev/video0
volumes:
- ../HARMONI/:/root/local_mount/HARMONI/
# Configuration
- ./dockerfiles/config/setup_script.sh:/root/.setup_script.sh
- ./dockerfiles/config/dev_setup_script.sh:/root/.dev_setup_script.sh
- ./dockerfiles/config/asoundrc:/root/.asoundrc
# Other
- /tmp/.X11-unix:/tmp/.X11-unix
- ~/.config/terminator/config:/root/.config/terminator/config
- ~/.gitconfig:/root/.gitconfig:ro
- ~/.ssh/:/root/.ssh:ro
- ~/.vimrc:/root/.vimrc:ro
- ~/.vim/:/root/.vim/:ro
- /etc/timezone:/etc/timezone:ro
- /etc/localtime:/etc/localtime:ro
working_dir: /root/harmoni_catkin_ws/src/HARMONI
command: bash -c "
terminator -ue \"cd ../HARMONI-hardware && echo 'Entering harmoni_hardware Container... \\n start with rlhardwareservices' && bash\""
networks:
ros_net:
driver: bridge
ipam:
driver: default
config:
- subnet: 172.18.3.0/24
volumes:
harmoni_catkin_ws:
wav2letter: