docker_compose_flair.yaml

version: "3.8"

services:
  adaptation:
    image: airl:flair
    container_name: adaptation
    hostname: adaptation
    command: bash -c '. ./install/setup.bash; ros2 run flair run_adaptation -l DEBUG; sleep infinity'
    depends_on:
      - rosserver
    volumes:
      - .:/me
      - /extra/antoine_cache/.nv:/tmp/.nv
    extra_hosts:
      - "influxdb:10.1.1.100"
    runtime: nvidia
    environment:
      HOME: /tmp
      INFLUXDB_KEY:
      INFLUXDB_BUCKET:
      ROS_DISCOVERY_SERVER: rosserver:11811
      RMW_IMPLEMENTATION: rmw_fastrtps_cpp
      TF_CPP_MIN_LOG_LEVEL: 0
    networks:
      - sharednet

  vicon:
    image: airl:ros2_light
    container_name: vicon
    hostname: vicon
    command: bash -c '. ./install/setup.bash; ros2 run flair run_vicon; sleep infinity'
    depends_on:
      - rosserver
    profiles:
      - nothing
    volumes:
      - .:/me
      - /extra/antoine_cache/.nv:/tmp/.nv
    extra_hosts:
      - "influxdb:10.1.1.100"
    runtime: nvidia
    environment:
      INFLUXDB_KEY:
      INFLUXDB_BUCKET:
      HOME: /tmp
      ROS_DISCOVERY_SERVER: rosserver:11811
      RMW_IMPLEMENTATION: rmw_fastrtps_cpp
      TF_CPP_MIN_LOG_LEVEL: 0
    networks:
      - sharednet

  rosbridge:
    image: airl:ros2_light    
    container_name: rosbridge
    hostname: rosbridge
    command: bash -c '. ./install/setup.bash; ros2 run flair run_bridge -r gvrbotv1 -l INFO'
    depends_on:
      - rosserver
    volumes:
      - .:/me
    extra_hosts:
      - "gvrbotv1:192.168.0.101"
    environment:
      HOME: /tmp
      INFLUXDB_KEY:
      INFLUXDB_BUCKET:
      LD_LIBRARY_PATH: '/opt/ros/humble/lib:/opt/ros/noetic/lib:'
      ROS_DISCOVERY_SERVER: rosserver:11811
      ROS_MASTER_URI: http://gvrbotv1:11311
      RMW_IMPLEMENTATION: rmw_fastrtps_cpp
    networks:
      sharednet:
      gvrbotnet:
        ipv4_address: 192.168.0.190

  rosserver:
    image: airl:ros2_light    
    container_name: rosserver
    hostname: rosserver
    command: bash -c '. ./install/setup.bash; fastdds discovery --server-id 0; sleep infinity'
    volumes:
      - .:/me
    environment:
      HOME: /tmp
      RMW_IMPLEMENTATION: rmw_fastrtps_cpp
      FASTRTPS_DEFAULT_PROFILES_FILE: /me/config/server_profile.xml
    networks:
      sharednet:
        ipv4_address: 10.1.1.221

  sensor_vnpy:
    image: airl:ros2_light    
    container_name: sensor_vnpy
    hostname: sensor_vnpy
    privileged: true
    command: bash -c '. ./install/setup.bash; ros2 launch vectornav vectornav.launch.py; sleep infinity'
    depends_on:
      - rosserver
    volumes:
      - .:/me
      - /dev/ttyTHS0:/dev/ttyUSB0
    environment:
      INFLUXDB_KEY:
      INFLUXDB_BUCKET:
      HOME: /tmp
      ROS_DISCOVERY_SERVER: 10.1.1.221:11811
      RMW_IMPLEMENTATION: rmw_fastrtps_cpp
    networks:
      - sharednet

  sensor_zed:
    image: airl:zeds
    container_name: sensor_zed
    hostname: sensor_zed
    runtime: nvidia
    privileged: true
    ipc: host
    deploy:
      resources:
        reservations:
          devices:
            - capabilities: [gpu]
    command: bash -c ". ./install/setup.bash; ros2 launch zed_multi_camera zed_multi_camera.launch.py cam_names:=\"[forward]\" cam_models:=\"[zed2i]\" cam_serials:=\"[${CAMERA_FORWARD}]\" cam_poses:=\"[[0.0,0.0,0.0,0.0,0.0,0.0]]\""
    depends_on:
      - rosserver
    volumes:
      - .:/me
      - ./data/resources:/usr/local/zed/resources
      - ./data/zed_configs:/root/ros2_ws/install/zed_wrapper/share/zed_wrapper/config/local
      - /usr/local/zed/settings:/usr/local/zed/settings
      - /dev/shm:/dev/shm
    environment:
      INFLUXDB_KEY:
      INFLUXDB_BUCKET:
      HOME: /tmp
      ROS_DISCOVERY_SERVER: 10.1.1.221:11811
      RMW_IMPLEMENTATION: rmw_fastrtps_cpp
    networks:
      - sharednet


networks:
  gvrbotnet:
     name: gvrbot-net
     driver: macvlan
     driver_opts:
       parent: eth0
     ipam:
       config:
         - subnet: "192.168.0.0/24"
  sharednet:
    name: computer-net
    driver: macvlan
    driver_opts:
      parent: wlan0
    ipam:
      config:
        - subnet: "10.1.1.0/24"
          ip_range: "10.1.1.208/28"
          gateway: "10.1.1.1"