FenswoodScenario/docker-compose.windows.yml at master · hiradg/FenswoodScenario · GitHub

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version: '3'

services:
  simhost:
    image: uobflightlabstarling/starling-sim-iris-ap:${STARLING_RELEASE:-latest}
    environment:
      - AP_SITL_HOST=sitl
    volumes:
      - ./fenswood:/ros.env.d/fenswood
    command: ["ros2", "launch", "/ros.env.d/fenswood/iris.launch.xml"]
    ports:
      - "8080:8080"

  sitl:
    image: uobflightlabstarling/starling-sim-ardupilot-copter:${STARLING_RELEASE:-latest}
    environment:
      - AP_USE_GAZEBO=true
      - AP_HOME=51.4233628,-2.671671,100.0,0
      - AP_SIM_HOST=simhost
    ports:
      - "5762:5762"

  mavros:
    image: uobflightlabstarling/starling-mavros:${STARLING_RELEASE:-latest}
    command: ros2 launch launch/mavros_bridge.launch.xml
    environment:
      - "MAVROS_TGT_FIRMWARE=apm"
      - "MAVROS_TGT_SYSTEM=1"
      - "MAVROS_FCU_URL=tcp://sitl:5760"
      - "MAVROS_GCS_URL=tcp-l://:5761"
      - "MAVROS_CONFIG_PATH=/mavros_config_ap.yaml"
      - "MAVROS_PLUGINLISTS_PATH=/mavros_pluginlists_ap.yaml"
    ports:
      - "5761:5761"

  # splitter:
  #   image: uobflightlabstarling/mavp2p
  #   command: tcpc:mavros:5761 tcps:0.0.0.0:5760 tcpc

  # rosbridge-suite:
  #   image: uobflightlabstarling/rosbridge-suite:${STARLING_RELEASE:-latest}
  #   ports:
  #     - "9090:9090"

  # Uncomment for the UI Example
  # ui-example:
  #   image: uobflightlabstarling/starling-ui-example
  #   ports:
  #     - "3000:3000"