BotBrain/docker-compose.yaml at main · botbotrobotics/BotBrain · GitHub

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services:
  base:
    image: botbotrobotics/botbrain:base
    stdin_open: true
    tty: true
    network_mode: host
    ipc: host
    privileged: true
    runtime: nvidia
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]
    volumes:
      - ./botbrain_ws/:/botbrain_ws
      - /dev:/dev
      - /run:/run
    environment:
      RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
      CYCLONEDDS_URI: "file:///botbrain_ws/cyclonedds_config.xml"

  dev:
    extends: base
    container_name: dev
    user: root
    command: ["bash", "-lc", "bash"]

  builder_base:
    extends: base
    container_name: builder_base
    command: ["bash", "-lc", "colcon build --packages-select \
          go2_pkg \
          tita_pkg \
          bot_bringup \
          bot_description \
          bot_custom_interfaces \
          joystick_bot \
          bot_localization \
          bot_navigation \
          bot_localization_interfaces \
          bot_state_machine \
          bot_jetson_stats \
          bot_jetson_stats_interfaces \
          bot_rosa \
          g1_pkg"]

  state_machine:
    extends: base
    container_name: state_machine
    command: ["bash", "-lc", "source install/setup.bash && ros2 launch bot_state_machine state_machine.launch.py"]
    restart: always

  bringup:
    extends: base
    container_name: bringup
    command: ["bash", "-lc", "source install/setup.bash && ros2 launch bot_bringup bringup.launch.py"]
    restart: always

  localization:
    extends: base
    container_name: localization
    command: ["bash", "-lc", "source install/setup.bash && ros2 launch bot_localization localization.launch.py"]
    restart: always

  navigation:
    extends: base
    container_name: navigation
    command: ["bash", "-lc", "source install/setup.bash && ros2 launch bot_navigation navigation.launch.py"]
    restart: always

  jetson_stats:
    extends: base
    container_name: jetson_stats
    command: ["bash", "-lc", "source install/setup.bash && ros2 launch bot_jetson_stats stats.launch.py"]
    restart: always

  rosa:
    extends: base
    container_name: rosa
    command: ["bash", "-lc", "source install/setup.bash && ros2 launch bot_rosa rosa.launch.py"]
    restart: always

  yolo_base:
    image: botbotrobotics/botbrain:yolo
    stdin_open: true
    tty: true
    network_mode: host
    ipc: host
    privileged: true
    runtime: nvidia
    shm_size: 2gb
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]
    environment:
      YOLO_CONFIG_DIR: /root/.cache/ultralytics
      RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
      CYCLONEDDS_URI: "file:///botbrain_ws/cyclonedds_config.xml"
    volumes:
      - ./botbrain_ws/:/botbrain_ws
      - /dev:/dev
      - /run:/run
      - ./botbrain_ws/src/bot_yolo/models:/root/.cache/ultralytics

  builder_yolo:
    extends: yolo_base
    container_name: builder_yolo
    command: ["bash", "-lc", "colcon build --packages-select \
          bot_yolo"]

  yolo:
    extends: yolo_base
    container_name: yolo
    command: ["bash", "-lc", "source install/setup.bash && ros2 launch bot_yolo yolo.launch.py"]
    restart: always

  dev_yolo:
    extends: yolo_base
    container_name: dev_yolo
    user: root
    command: ["bash"]

  web_server:
    image: node:22-bullseye
    working_dir: /app
    volumes:
      - ./frontend:/app
    env_file:
      - .env

  web_server_builder:
    extends: web_server
    container_name: web_server_builder
    network_mode: host
    command: sh -c "npm ci && npm run build:oss"

  web_server_dev:
    extends: web_server
    container_name: web_server_dev
    network_mode: host
    command: sh -c "npm install && npm run dev:oss"
    stdin_open: true
    tty: true

  web_server_prod:
    extends: web_server
    container_name: web_server_prod
    network_mode: host
    environment:
      - NODE_ENV=production
    env_file:
      - .env
    command: npm run start
    restart: unless-stopped