docker_cams/docker-compose.yml at main · hucebot/docker_cams · GitHub

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services:

  webcam:
    image: webcam_ros2
    environment:
      - DISPLAY=$DISPLAY
      - XAUTHORITY=$XAUTHORITY
      - XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR
      - QT_X11_NO_MITSHM=1
      - ROS_DOMAIN_ID=39
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - CYCLONEDDS_URI=file:///etc/ros2/cyclonedds.xml
    devices:
      - "/dev/video0:/dev/video0"
      - "/dev/video4:/dev/video1"
      - "/dev/video9:/dev/video2"
    network_mode: host
    ipc: host
    pid: host
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./cyclonedds.xml:/etc/ros2/cyclonedds.xml
    entrypoint: /bin/bash
    command: -c "source /opt/ros/humble/setup.bash && \
                  source /ros2_ws_webcam/install/setup.bash && \
                  ros2 launch launcher_pkg launch_file.py \
                    video_device1:=/dev/video0 \
                    video_device2:=/dev/video1 \
                    video_device3:=/dev/video2 \
                    image_width:=640 \
                    image_height:=480 \
                    framerate:=30 \
                    transport_on:=false && \
                  exec bash"

  realsense:
    image: realsense_ros2
    environment:
      - DISPLAY=$DISPLAY
      - XAUTHORITY=$XAUTHORITY
      - XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR
      - QT_X11_NO_MITSHM=1
      - ROS_DOMAIN_ID=39
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - CYCLONEDDS_URI=file:///etc/ros2/cyclonedds.xml
    network_mode: host
    ipc: host
    pid: host
    volumes:
      - /dev:/dev
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./cyclonedds.xml:/etc/ros2/cyclonedds.xml
    privileged: true
    entrypoint: /bin/bash
    command: -c "source /opt/ros/humble/setup.bash && \
                  source /ros2_ws_realsense/install/setup.bash && \
                  ros2 launch realsense2_camera rs_launch.py \
                    rgb_camera.color_profile:=640,480,30 \
                    depth_module.depth_profile:=640,480,30 \
                    align_depth.enable:=true && \
                  exec bash"