base-compose.yaml

# Copyright 2024 - Andrew Kwok Fai LUI and Dasun Gunasinghe
# Research Engineering Facility, Queensland University of Technology (QUT)
# Contains the base image definitions, usable for most image configurations
# NOTE:
#   - rosbase and ros2base have the main definitions (stdin_open, tty, privaleged, etc.)
#   - environments and volumes are captured as 'fragments' for reuse, typically ros1_envs, ros2_envs, and base_volumes 
services:
    rosbase:
        build:
            context: ./images/base/rosbase
            dockerfile: Dockerfile
            args: 
                USER: qcr
        image: rosbase
        container_name: rosbase
        stdin_open: true
        tty: true
        privileged: true
        environment: &ros1_envs
            - DISPLAY
            - QT_X11_NO_MITSHM=1
            - ROS_MASTER=false
            - ROS_MASTER_URI=http://localhost:11311
        network_mode: host
        ipc: host
        user: qcr
        working_dir: /home/qcr
        volumes: &base_volumes
            - /tmp/.X11-unix:/tmp/.X11-unix:rw
            - /etc/timezone:/etc/timezone:ro
            - /etc/localtime:/etc/localtime:ro
            - ~/.ssh:/home/qcr/.ssh
        command: bash
    ros2base:
        build:
            context: ./images/base/ros2base
            dockerfile: Dockerfile
            args: 
                USER: qcr
        image: ros2base
        container_name: ros2base
        stdin_open: true
        tty: true
        privileged: true
        environment: &ros2_envs
            - DISPLAY
            - QT_X11_NO_MITSHM=1
            - ROS_DOMAIN_ID=1
        network_mode: host
        ipc: host
        user: qcr
        working_dir: /home/qcr
        volumes: *base_volumes
        command: bash
    armer:
        extends: 
            service: rosbase
        image: armer
        container_name: armer
        build:
            context: ./images/base/armer
            dockerfile: Dockerfile
        command: stdbuf -o L roslaunch armer armer.launch config:=/home/qcr/armer_ws/src/armer/cfg/panda_sim.yaml
        # command: bash
    moveit:
        extends:
            service: rosbase
        container_name: moveit  
        image: moveit
        build:
            context: ./images/base/moveit
            dockerfile: Dockerfile
        command: bash
    moveit2:
        extends:
            service: ros2base
        container_name: moveit2
        image: moveit2
        build:
            context: ./images/base/moveit2
            dockerfile: Dockerfile
        command: bash
    nvidia:
        # image: nvidia/cudagl:11.3.0-devel
        image: nvidia/cudagl:11.1.1-base-ubuntu20.04
        deploy:
            resources:
                reservations:
                    devices:
                        - driver: nvidia
                          count: 1
                          capabilities: [gpu]
        command: nvidia-smi
    rosbase-gpu:
        build:
            context: ./images/base/rosbase
            dockerfile: Dockerfile.nvidia
            args: 
                USER: qcr
        image: rosbase-gpu
        container_name: rosbase-gpu