dSPACE-IAC-sut-te-bridge/docker-compose_example.yml at art-jazzy · airacingtech/dSPACE-IAC-sut-te-bridge · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
networks:
    dspace_network:
        driver: bridge
        ipam:
            config:
                - subnet: 10.6.0.0/16

services:
  veos:
    image: 722180079256.dkr.ecr.eu-central-1.amazonaws.com/dspace/iac_veos_asm_executor:sim_pack_v4.0
    container_name: veos
    cap_add:
        - SYS_PTRACE
    environment:
        - DS_CMU_SERVER=xxx
        - DS_VEOS_LOAD_OSA=/home/dspace/VEOS/ASM_Traffic.osa
        - DS_ASM_SCENARIO_ID=1 # ID 1: IMS; ID 2: Putnam Park, ID 3: Monza, ID 4: Las Vegas Outside Course, ID 5: Laguna Seca (new versions, no pit), ID 6: Laguna Seca (old versions, with pit)
        - DS_START_COMMAND=deactivatepush2pass-start
        - DS_VEOS_REMOTE_CAPABLE=1
        - DS_ROUTE_ID=2 # 1: start on track, 2: start in pit lane
        - DS_INIT_S=400 # distance around track in meters
    shm_size: 256m
    networks:
        dspace_network:
            ipv4_address: 10.6.0.2
    depends_on:
        vesi:
            condition: service_started

  vesi:
    image: 722180079256.dkr.ecr.eu-central-1.amazonaws.com/dspace/iac_vesi:sim_pack_v4.0
    container_name: vesi
    restart: always
    tty: true
    networks:
        dspace_network:
            ipv4_address: 10.6.0.3
    depends_on:
        can-netns:
            condition: service_started

  can-netns:
    image: 722180079256.dkr.ecr.eu-central-1.amazonaws.com/dspace/iac_asm_socketcan_bridge:sim_pack_v4.0
    container_name: can-netns
    ipc: "shareable"
    shm_size: "512m"
    ports:
        - 8765:8765/tcp
    cap_add:
        - NET_ADMIN
    entrypoint:
        - sh
        - -lc
        - |
            modprobe vcan 2>/dev/null || true
            ip link add dev can0 type vcan 2>/dev/null || true
            ip link add dev can1 type vcan 2>/dev/null || true
            ip link set can0 up || true
            ip link set can1 up || true
            tail -f /dev/null
    networks:
        dspace_network:
            ipv4_address: 10.6.0.4

  dspace_restbus_bridge:
    image: 722180079256.dkr.ecr.eu-central-1.amazonaws.com/dspace/iac_asm_socketcan_bridge:sim_pack_v4.0
    container_name: asm_socketcan_bridge
    restart: no
    volumes:
        - ./asm_socketcan_bridge_override.yaml:/root/dspace_bridge_ws/install/asm_socketcan_bridge/share/asm_socketcan_bridge/config/asm_socketcan_bridge.yaml
    cap_add:
        - NET_ADMIN
        - SYS_PTRACE
    security_opt:
        - seccomp:unconfined
    network_mode: "service:can-netns"
    ipc: "container:can-netns"
    depends_on:
        veos:
            condition: service_healthy
        can-netns:
            condition: service_started

  dspace_foxglove_bridge:
    image: 722180079256.dkr.ecr.eu-central-1.amazonaws.com/dspace/iac_ros2_foxglove_bridge:sim_pack_v4.0
    container_name: foxglove_bridge
    network_mode: "service:can-netns"
    ipc: "container:can-netns"
    depends_on:
        veos:
            condition: service_healthy
        can-netns:
            condition: service_started

  lichtblick_local:
    image: ghcr.io/lichtblick-suite/lichtblick:latest
    container_name: lichtblick_local
    ports:
      - 8080:8080
    networks:
      dspace_network:
        ipv4_address: 10.6.0.9

  demo_stack_uva:
    image: 722180079256.dkr.ecr.eu-central-1.amazonaws.com/dspace/iac_uva_demo_av_stack:sim_pack_v4.0
    container_name: demo_stack_uva
    environment:
        - SIM_CLOCK_MODE=false
        - CAR_NUM=78
    volumes:
        - ./demo_stack_uva/ims.param_override.yaml:/root/ros_ws/src/npc_controller/config/ims.param.yaml
    network_mode: "service:can-netns"
    ipc: "container:can-netns"
    depends_on:
      veos:
        condition: service_healthy
      can-netns:
        condition: service_started

  raptor_dbw:
    image: 722180079256.dkr.ecr.eu-central-1.amazonaws.com/dspace/iac_socketcan_dbw_bridge:sim_pack_v4.0
    container_name: raptor_dbw
    restart: no
    cap_add:
        - NET_ADMIN
    network_mode: "service:can-netns"
    ipc: "container:can-netns"
    depends_on:
        veos:
            condition: service_healthy
        can-netns:
            condition: service_started

#   ctun:
#     image: 722180079256.dkr.ecr.eu-central-1.amazonaws.com/dspace/iac_ctun:sim_pack_v4.0
#     container_name: ctun
#     ports:
#         - 1723:1723/udp
#     cap_add:
#         - NET_ADMIN
#         - SYS_PTRACE
#     networks:
#         dspace_network:
#             ipv4_address: 10.6.0.8
#     depends_on:
#         veos:
#             condition: service_started

# Example for adding a sensor bridge for sensor simulation with AURELION
    # dspace_sensor_bridge:
    #     image: 722180079256.dkr.ecr.eu-central-1.amazonaws.com/dspace/iac_aurelion_ros2_bridge:2026-05-06
    #     container_name: aurelion_ros2_bridge
    #     restart: always
    #     environment:
    #         - VESI_SENSOR_IP=
    #         - VESI_SENSOR_PORT=12345
    #         - SENSOR_TYPE=Lidar
    #         - SENSOR_ID=1
    #         - ROS_TOPIC=lidar_front
    #     cap_add:
    #         - SYS_ADMIN
    #         - DAC_READ_SEARCH
    #         - SYS_PTRACE
    #     networks:
    #         mynetwork:
    #             ipv4_address: 10.6.0.10