docker-compose.yml

# This Docker Compose file runs the Gazebo simulation and the glider control
# system simulation.

version: "3"

services:
  ros-master:
    image: ros:noetic-ros-core
    command: stdbuf -o L roscore
    networks:
      - ros
    restart: always

  gazebo:
    image: woensugchoi/glider_hybrid_whoi:latest
    networks:
      - ros
    environment:
      - "DISPLAY"
      - "ROS_MASTER_URI=http://ros-master:11311"
      - "QT_X11_NO_MITSHM=1"
    volumes:
      - "/tmp/.X11-unix:/tmp/.X11-unix"
      - "/etc/localtime:/etc/localtime:ro"
      - "./local_glider_files:/local_glider_files"
    entrypoint: /ros_entrypoint.sh
    env_file:
      - ./local_glider_files/simulation/initialLatLon.env
    command:
      - stdbuf
      - -o
      - L
      - roslaunch
      - --wait
      - ./local_glider_files/simulation/BuzzBay_stratified_current_docker.launch
      - latitude:=${LATITUDE:-41.5522}
      - longitude:=${LONGITUDE:--70.6803}
    privileged: true
    security_opt:
      - seccomp:unconfined
    user: "${UID:-1000}:${GID:-1000}"

  glider_control_sim:
    image: registry.gitlab.com/sentinel-aug/ros/slocum_glider/extctl-sim
    build:
      context: .
      dockerfile: docker/Dockerfile.extctl_sim
    networks:
      - ros
    environment:
      - "ROS_MASTER_URI=http://ros-master:11311"
    volumes:
      - "/etc/localtime:/etc/localtime:ro"
      - "./local_glider_files:/gliderfs"
    command:
      - stdbuf
      - -o
      - L
      - roslaunch
      - --wait
      - slocum_glider_extctl_sim
      - sim_driver.launch
      - data_dir:=/gliderfs

  glider_mission_controller:
    image: registry.gitlab.com/sentinel-aug/ros/slocum_glider/mission-controller
    build:
      context: .
      dockerfile: docker/Dockerfile.mission_controller
    networks:
      - ros
    environment:
      - "ROS_MASTER_URI=http://ros-master:11311"
    volumes:
      - "/etc/localtime:/etc/localtime:ro"
    command:
      - stdbuf
      - -o
      - L
      - roslaunch
      - --wait
      - slocum_glider_mission_controller
      - sim_mission_controller.launch

networks:
  ros: {}