botasys_ft_sensor_ros2/docker-compose.yaml at master · learnsyslab/botasys_ft_sensor_ros2 · GitHub

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x-bota-common: &bota_common
  image: bota_ft_sensor_ros2:${ROS_DISTRO:-jazzy}
  build:
    context: .
    dockerfile: ./Dockerfile
    args:
      ROS_DISTRO: ${ROS_DISTRO:-jazzy}
  network_mode: "host"
  security_opt:
    - apparmor=unconfined
  devices:
    - "${BOTA_DEVICE:-/dev/ttyACM0}:${BOTA_DEVICE:-/dev/ttyACM0}"
  environment:
    ROS_DOMAIN_ID: ${ROS_DOMAIN_ID:-100}
    RMW_IMPLEMENTATION: ${RMW_IMPLEMENTATION:-rmw_cyclonedds_cpp}
    NETWORK_INTERFACE: ${NETWORK_INTERFACE:-enx607d0937fb24}
    CYCLONEDDS_URI: <CycloneDDS xmlns="https://cdds.io/config"><Domain><General><AllowMulticast>true</AllowMulticast><Interfaces><NetworkInterface name="${NETWORK_INTERFACE:-enx607d0937fb24}"/></Interfaces></General><Discovery><ParticipantIndex>none</ParticipantIndex></Discovery></Domain></CycloneDDS>

services:
  bota_ft_sensor:
    <<: *bota_common
    container_name: bota_ft_sensor_${ROS_DISTRO:-jazzy}
    init: true
    stop_signal: SIGINT
    stop_grace_period: 10s
    command: >
      bash -c "source /opt/ros/$${ROS_DISTRO:-jazzy}/setup.bash &&
      source /ros2_ws/install/setup.bash &&
      ros2 daemon stop && ros2 daemon start &&
      exec ros2 run bota_driver bota_driver_node --ros-args
      --log-level rmw_cyclonedds_cpp:=ERROR
      -p node_name:=bota_ft_sensor
      -p config_file:=/ros2_ws/src/bota_driver_ros2_example/bota_config/bota_binary.json
      -p output_rate:=100.0"