docker-compose-bag.yaml

# Copyright (c) 2020, 2021  Carnegie Mellon University, IBM Corporation, and others
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.

services:
  bag:
    build:
      context: ./cabot-navigation/docker/ros2
    environment:
      - DISPLAY
      - XAUTHORITY=/tmp/.docker.xauth
      - NVIDIA_DRIVER_CAPABILITIES=compute,graphics,utility,video,display
      - NVIDIA_VISIBLE_DEVICES=all
      - CABOT_ROSBAG_BACKEND
      - CABOT_ROSBAG_COMPRESSION
      - CABOT_ROSBAG_RECORD_CAMERA
      - CABOT_ROSBAG_SEPARATE_LOG
      - CABOT_SHOW_ROS2_LOCAL_RVIZ
# ROS2/DDS
      - ROS_LOG_DIR
      - RMW_IMPLEMENTATION
      - ROS_LOCALHOST_ONLY
      - ROS_DOMAIN_ID
      - CYCLONEDDS_URI
      - CYCLONEDDS_NETWORK_INTERFACE_NAME
      - CYCLONEDDS_NETWORK_INTERFACE_AUTODETERMINE # set automatically by launch.sh
    volumes:
# device, bluetooth
      - /dev:/dev
      - /sys/devices:/sys/devices
# display
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - /tmp/.docker.xauth:/tmp/.docker.xauth
# bridge - if DDS use shared memory
      - /dev/shm:/dev/shm
# code
      - ./docker/home:/home/developer/
      - ./cabot_sites:/home/developer/bag_ws/src/cabot_sites
      - ./cabot-common/cabot_msgs:/home/developer/bag_ws/src/cabot_msgs
      - ./cabot-common/cabot_common:/home/developer/bag_ws/src/cabot_common
      - ./cabot_debug:/home/developer/bag_ws/src/cabot_debug
      - ./cabot-drivers/motor_controller:/home/developer/bag_ws/src/motor_controller
      - ./cabot-drivers/docker/driver/ros_odrive/odrive_base:/home/developer/bag_ws/src/ros_odrive/odrive_base
      - ./cabot-drivers/docker/driver/ros_odrive/odrive_node:/home/developer/bag_ws/src/ros_odrive/odrive_node
      - ./cabot-drivers/power_controller/power_controller_kx/power_controller_msgs:/home/developer/bag_ws/src/power_controller_msgs
      - ./cabot-navigation/script:/home/developer/bag_ws/script
      - ./cabot-navigation/mf_localization_msgs:/home/developer/bag_ws/src/mf_localization_msgs
      - ./cabot-navigation/mf_localization_rviz:/home/developer/bag_ws/src/mf_localization_rviz
      - ./cabot-navigation/queue_msgs:/home/developer/bag_ws/src/queue_msgs
      - ./cabot-people/track_people_msgs:/home/developer/bag_ws/src/track_people_msgs
      - ./cabot-description/cabot_description:/home/developer/bag_ws/src/cabot_description
      - ./cabot-navigation/docker/localization/ublox/ublox_msgs:/home/developer/bag_ws/src/ublox_msgs
      - ./cabot-navigation/docker/localization/ublox/ublox_serialization:/home/developer/bag_ws/src/ublox_serialization
      - ./cabot-navigation/docker/localization/cartographer_ros/cartographer_ros_msgs:/home/developer/bag_ws/src/cartographer_ros_msgs
      - ./cabot-common/docker/humble-custom/velodyne/velodyne_msgs:/home/developer/bag_ws/src/velodyne_msgs
      - ./host_ws/src/tf_bag:/home/developer/bag_ws/src/tf_bag
      - ${CABOT_BAG_MOUNT:-./doc}:/ros2_topics
    working_dir: /home/developer/bag_ws
    devices:
      - /dev/dri
    privileged: true
    cap_add:
      - SYS_ADMIN
      - NET_ADMIN
    network_mode: host
    stop_signal: SIGINT
    command: /launch.sh record