docker-compose.yml

version: "3.9"
services:
  # ROS Master Service
  ros_master:
    image: ros:noetic-ros-base-focal
    container_name: ros_noetic_master
    network_mode: "host"
    command: roscore

  # RoboSense LiDAR Driver Service
  bp_r1_lidar_service:
    build:
      context: ./robosense_lidar_module/docker
      dockerfile: Dockerfile
    image: ros1_rs_lidar_driver:latest
    container_name: ros1_rs_lidar
    network_mode: "host"
    privileged: true
    volumes:
      - ./robosense_lidar_module/src:/root/ros_ws/src
    tty: true
    environment:
      - DISPLAY
    depends_on:
      - ros_master
    # Uncomment the following line for debugging:
    # entrypoint: ["tail", "-f", "/dev/null"]

  # Xsens IMU Driver Service
  bp_r1_imu_service:
    build:
      context: ./xsens_imu_module/docker
      dockerfile: Dockerfile
    image: ros1_xsens_imu_driver:latest
    container_name: ros1_xsens_imu
    network_mode: "host"
    privileged: true
    volumes:
      - ./xsens_imu_module/src:/root/ros_ws/src
    tty: true
    environment:
      - DISPLAY
    depends_on:
      - ros_master
    # Uncomment the following line for debugging:
    # entrypoint: ["tail", "-f", "/dev/null"]

  # 2D SLAM Service
  bp_r1_slam_service:
    build:
      context: ./scout2_2d_slam_module/docker
      dockerfile: Dockerfile
    image: ros1_2d_slam:latest
    network_mode: "host"
    container_name: ros1_2d_slam
    privileged: true
    volumes:
      - ./scout2_2d_slam_module/src:/root/ros_ws/src
    tty: true
    environment:
      - DISPLAY
    depends_on:
      - ros_master
    # Uncomment the following line for debugging:
    # entrypoint: ["tail", "-f", "/dev/null"]

  # Exploration Module Service
  bp_r1_exp_service:
    build:
      context: ./exploration_module/docker
      dockerfile: Dockerfile
    image: ros1_exploration:latest
    network_mode: "host"
    container_name: ros1_exploration
    privileged: true
    volumes:
      - ./exploration_module/src:/root/ros_ws/src
    tty: true
    environment:
      - DISPLAY
      - AUTO_EXPLORE=true
    depends_on:
      - ros_master
      - bp_r1_slam_service
    # Uncomment the following line for debugging:
    # entrypoint: ["tail", "-f", "/dev/null"]