From 1a69bbaeb60da6ad0a650a511d54881955ffdd1c Mon Sep 17 00:00:00 2001
From: Marc Hanheide <marc@hanheide.net>
Date: Sun, 15 Dec 2024 19:59:05 +0000
Subject: [PATCH] Add Docker Compose files for robot drivers and simulation
 services

---
 .docker/compose-robot.yml | 33 +++++++++++++++++++++++++++++++++
 .docker/compose.yml       | 19 +++++++++++++++++++
 2 files changed, 52 insertions(+)
 create mode 100644 .docker/compose-robot.yml
 create mode 100644 .docker/compose.yml

diff --git a/.docker/compose-robot.yml b/.docker/compose-robot.yml
new file mode 100644
index 0000000..c64c5c5
--- /dev/null
+++ b/.docker/compose-robot.yml
@@ -0,0 +1,33 @@
+version: '3'
+services:
+  limo_drivers:
+    image: lcas.lincoln.ac.uk/lcas/limo_platform_arm64:latest
+    user: "ros"
+    privileged: true
+    command: bash -c "source /opt/ros/lcas/install/setup.bash; (zenoh-bridge-ros2dds -l tcp/0.0.0.0:8888 &); (ros2 launch astra_camera dabai.launch.py &); ros2 launch limo_bringup limo_start.launch.py"
+    volumes:
+      - /dev:/dev
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - /etc/localtime:/etc/localtime:ro
+      - /etc/timezone:/etc/timezone:ro
+      - /home/agilex/.Xauthority:/home/ros/.Xauthority
+    restart: unless-stopped
+    environment:
+      - 'DISPLAY=:0'
+      - 'ROS_LOCALHOST_ONLY=1'
+      - 'LIBGL_ALWAYS_SOFTWARE=1'
+      - 'ROS_DOMAIN_ID=0'
+      - 'NVIDIA_VISIBLE_DEVICES=all'
+    network_mode: host
+    cap_add:
+        - SYS_PTRACE
+    security_opt:
+      - seccomp:unconfined
+      - apparmor:unconfined
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [gpu]
\ No newline at end of file
diff --git a/.docker/compose.yml b/.docker/compose.yml
new file mode 100644
index 0000000..bef7bee
--- /dev/null
+++ b/.docker/compose.yml
@@ -0,0 +1,19 @@
+version: '3'
+services:
+  limo_simulation:
+    image: lcas.lincoln.ac.uk/lcas/limo_platform_amd64:latest
+    user: "ros"
+    command: bash -c "source /opt/ros/lcas/install/setup.bash && ros2 launch limo_gazebosim limo_gazebo_diff.launch.py"
+    restart: unless-stopped
+    environment:
+      - 'ROS_LOCALHOST_ONLY=1'
+      - 'ROS_DOMAIN_ID=0'
+    ports:
+      - "5801"
+    # deploy:
+    #   resources:
+    #     reservations:
+    #       devices:
+    #         - driver: nvidia
+    #           count: 1
+    #           capabilities: [gpu]
\ No newline at end of file