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docker-compose-px4.yml
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docker-compose-px4.yml
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version: '3.6'
services:
PX4:
image: "docker.io/alienkh/px4_sim:${px4TAG:?error}"
container_name: px4_sim
hostname: px4_sim
tty: true
privileged: true
network_mode: "host"
# networks:
# px4:
# ipv4_address: "10.20.10.2"
environment:
DISPLAY: ${DISPLAY}
"XAUTHORITY": ${XAUTH}
volumes:
- /tmp/.X11-unix/:/tmp/.X11-unix/
- /dev:/dev/
- /tmp/.docker.xauth:/tmp/.docker.xauth:rw
- /home/alien/docker_ws/octa:/octa/
command: /bin/bash -c "sleep inf"
# imu_filter:
# image: "mins:${minsTAG:?error}"
# privileged: true
# # restart: unless-stopped
# network_mode: "host"
# # networks:
# # mins:
# # ipv4_address: "10.20.10.3"
# depends_on:
# # - roscore
# - oak
# # environment:
# # DISPLAY: ${DISPLAY}
# # "XAUTHORITY": ${XAUTH}
# volumes:
# # - /tmp/.X11-unix/:/tmp/.X11-unix/
# # - /tmp/.docker.xauth:/tmp/.docker.xauth:rw
# - /dev/:/dev/
# command: /bin/bash -c "
# rosrun imu_filter_madgwick imu_filter_node \
# _use_mag:=false _use_magnetic_field_msg:=false _publish_tf:=false _world_frame:='enu'
# /imu/data_raw:=/stereo_inertial_publisher/imu \
# /imu/data:=/imu/data "
rqt:
image: "docker.io/alienkh/px4_sim:${px4TAG:?error}"
container_name: rqt
hostname: rqt
tty: true
network_mode: "host"
# networks:
# mins:
# ipv4_address: "10.20.10.4"
# restart: unless-stopped
depends_on:
- PX4
environment:
DISPLAY: ${DISPLAY}
"XAUTHORITY": ${XAUTH}
volumes:
- /tmp/.X11-unix/:/tmp/.X11-unix/
command: /bin/bash -c "
source /opt/ros/humble/setup.bash && rqt"
uxrcedds:
image: "docker.io/alienkh/px4_sim:${px4TAG:?error}"
container_name: uxrcedds
hostname: uxrcedds
tty: true
network_mode: "host"
# networks:
# mins:
# ipv4_address: "10.20.10.5"
# restart: unless-stopped
depends_on:
- PX4
environment:
DISPLAY: ${DISPLAY}
"XAUTHORITY": ${XAUTH}
volumes:
- /tmp/.X11-unix/:/tmp/.X11-unix/
command: /bin/bash -c "
source /opt/ros/${ROS_DISTRO}/setup.bash && MicroXRCEAgent udp4 -p 8888"
# networks:
# px4:
# ipam:
# driver: default
# config:
# - subnet: "10.20.10.0/24"