slam-bench/docker-compose.yaml at main · comrob/slam-bench · GitHub

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# This file is configured for a secure, isolated ROS network.

services:
  roscore:
    image: ghcr.io/comrob/slam-bench:latest
    container_name: roscore
    hostname: roscore
    networks:
      - ros-net
    command: roscore
    ports:
      - "11311:11311" # Expose master port for host-based debugging tools
    environment:
      # The roscore advertises its own hostname.
      ROS_HOSTNAME: roscore
    healthcheck:
      test: ["CMD", "bash", "-c", "source /app/entrypoints/ros_entrypoint.sh && rostopic list"]
      interval: 1s
      timeout: 3s
      retries: 30

  record_odometry:
    image: ghcr.io/comrob/slam-bench:latest
    init: true
    container_name: record_odometry
    hostname: record_odometry
    networks:
      - ros-net
    user: "1000:1000"
    depends_on:
      roscore:
        condition: service_healthy
    environment:
      # Explicit ROS network configuration
      ROS_MASTER_URI: http://roscore:11311
      ROS_HOSTNAME: record_odometry
      # Service-specific variables
      ROS_HOME: /tmp/.ros
      OUTPUT_FILE_NAME: ${OUTPUT_FILE_NAME}
      OUTPUT_PATH_HOST: ${OUTPUT_PATH_HOST}
    volumes:
      - ${OUTPUT_PATH_HOST}:/trajectory_files
    entrypoint: ["/app/entrypoints/entrypoint_record_odometry.sh"]

  play_bag:
    image: ghcr.io/comrob/slam-bench:latest
    init: true
    container_name: play_bag
    hostname: play_bag
    networks:
      - ros-net
    user: "1000:1000"
    depends_on:
      roscore:
        condition: service_healthy
    environment:
      # Explicit ROS network configuration
      ROS_MASTER_URI: http://roscore:11311
      ROS_HOSTNAME: play_bag
      # Service-specific variables
      BAGFILES_PATH_HOST: ${BAGFILES_PATH_HOST}
      BAGFILE_NAME: ${BAGFILE_NAME:-sensors}
      ROSBAG_PLAY_RATE: ${ROSBAG_PLAY_RATE}
      TOPICS_FILE: ${TOPICS_FILE}
      ROS_HOME: /tmp/.ros
    volumes:
      - ${BAGFILES_PATH_HOST}:/rosbag_files
    entrypoint: ["/app/entrypoints/entrypoint_play_bag.sh"]

  run_slam_nvidia:
    image: ${SLAM_IMAGE:-$CRL_SLAM_IMAGE}
    container_name: run_slam_nvidia
    hostname: run_slam_nvidia
    networks:
      - ros-net
    depends_on:
      roscore:
        condition: service_healthy
    environment:
      # Explicit ROS network configuration
      ROS_MASTER_URI: http://roscore:11311
      ROS_HOSTNAME: run_slam_nvidia
      # Service-specific variables
      DISPLAY: ${DISPLAY}
      NVIDIA_VISIBLE_DEVICES: all
      NVIDIA_DRIVER_CAPABILITIES: compute,utility
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
      - ${SLAM_CONFIG_OVERRIDE_FILE:-/dev/null}:/config/override.yaml

  run_slam:
    image: ${SLAM_IMAGE:-$CRL_SLAM_IMAGE}
    container_name: run_slam
    hostname: run_slam
    networks:
      - ros-net
    depends_on:
      roscore:
        condition: service_healthy
    environment:
      # Explicit ROS network configuration
      ROS_MASTER_URI: http://roscore:11311
      ROS_HOSTNAME: run_slam
      # Service-specific variables
      DISPLAY: ${DISPLAY}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
      - ${SLAM_CONFIG_OVERRIDE_FILE:-./config/slam/override_config.yaml.example}:/config/override.yaml

  # This service does not perform ROS communication, so it doesn't need network config.
  evaluate_trajectory:
    init: true
    image: ghcr.io/comrob/slam-bench:latest
    container_name: evaluate_trajectory
    user: "1000:1000"
    environment:
      TEST_MODE: ${TEST_MODE}
    volumes:
      - ${REFERENCE_TRAJECTORY_FILE_HOST:-/reference_trajectory.txt}:/reference_trajectory.txt
      - ${ESTIMATED_TRAJECTORY_FILE_HOST:-/estimated_trajectory.txt}:/estimated_trajectory.txt
      - ${OUTPUT_PATH_HOST:-/evaluation_output}:/evaluation_output
    entrypoint: ["/app/entrypoints/entrypoint_evaluate.sh"]

# Define the custom bridge network for isolated ROS communication.
networks:
  ros-net:
    driver: bridge