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feat: add lcas vnc container #3

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99 changes: 65 additions & 34 deletions docker/docker-compose.yml
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Original file line number Diff line number Diff line change
@@ -1,43 +1,63 @@
name: auto_shepherd

services:
vnc:
image: lcas.lincoln.ac.uk/vnc
container_name: vnc
ports:
- "5801" # noVNC web interface
volumes:
- x11:/tmp/.X11-unix # share X server socket with other containers
networks:
- sheep_net
ipc: shareable # Allow other containers to access the IPC of the VNC container to allow data to go into it's X11
healthcheck:
test: ["CMD", "curl", "-f", "http://localhost:5801/vnc.html"]
interval: 10s
timeout: 5s
retries: 5

# drone_control:
# build:
# context: ../auto_shepherd_drone_control
# dockerfile: docker/Dockerfile
# container_name: drone_control
# hostname: drone_control
# network_mode: bridge
# ipc: "host"
# tty: true
# stdin_open: true
# volumes:
# - ../auto_shepherd_drone_control/auto_shepherd_drone_control_ros2:/home/ros/base_ws/src/auto_shepherd_drone_control_ros2:rw
# - ../auto_shepherd_drone_control/bash_scripts/container:/home/ros/bash_scripts:rw
# - /tmp/.X11-unix:/tmp/.X11-unix:rw
# environment:
# - DISPLAY=${DISPLAY}
# - QT_X11_NO_MITSHM=1
# - BASE_WS=/home/ros/base_ws
# - ROS_DOMAIN_ID=0
# drone_control:
# build:
# context: ../auto_shepherd_drone_control
# dockerfile: docker/Dockerfile
# container_name: drone_control
# hostname: drone_control
# network_mode: bridge
# ipc: "host"
# tty: true
# stdin_open: true
# volumes:
# - ../auto_shepherd_drone_control/auto_shepherd_drone_control_ros2:/home/ros/base_ws/src/auto_shepherd_drone_control_ros2:rw
# - ../auto_shepherd_drone_control/bash_scripts/container:/home/ros/bash_scripts:rw
# # - /tmp/.X11-unix:/tmp/.X11-unix:rw
# - x11:/tmp/.X11-unix
# environment:
# - DISPLAY=${DISPLAY:-:1}
# - QT_X11_NO_MITSHM=1
# - BASE_WS=/home/ros/base_ws
# - ROS_DOMAIN_ID=0

sheep_localisation:
build:
context: ../auto_shepherd_sheep_localisation
dockerfile: docker/Dockerfile
container_name: sheep_localisation
hostname: sheep_localisation
network_mode: bridge
ipc: "host"
ipc: "service:vnc"
networks:
- sheep_net
tty: true
stdin_open: true
ports:
- "8080:8080"
volumes:
- ../auto_shepherd_sheep_localisation/auto_shepherd_sheep_localisation_ros2:/home/ros/base_ws/src/auto_shepherd_sheep_localisation_ros2:rw
- ../auto_shepherd_sheep_localisation/bash_scripts/container:/home/ros/bash_scripts:rw
- /tmp/.X11-unix:/tmp/.X11-unix:rw
# - /tmp/.X11-unix:/tmp/.X11-unix:rw
- x11:/tmp/.X11-unix
environment:
- DISPLAY=${DISPLAY}
- DISPLAY=${DISPLAY:-:1}
- QT_X11_NO_MITSHM=1
- BASE_WS=/home/ros/base_ws
- ROS_DOMAIN_ID=0
Expand All @@ -48,18 +68,20 @@ services:
dockerfile: docker/Dockerfile
container_name: simulation
hostname: simulation
network_mode: bridge
ipc: "host"
ipc: "service:vnc"
networks:
- sheep_net
tty: true
stdin_open: true
volumes:
- ../auto_shepherd_simulation/auto_shepherd_simulation_ros2:/home/ros/base_ws/src/auto_shepherd_simulation_ros2:rw
- ../auto_shepherd_simulation/bash_scripts/container:/home/ros/bash_scripts:rw
- /tmp/.X11-unix:/tmp/.X11-unix:rw
# - /tmp/.X11-unix:/tmp/.X11-unix:rw
- x11:/tmp/.X11-unix
- ../auto_shepherd_simulation/configs/rviz:/home/ros/.rviz2:rw
- ../auto_shepherd_simulation/configs/map:/home/ros/map:rw
environment:
- DISPLAY=${DISPLAY}
- DISPLAY=${DISPLAY:-:1}
- QT_X11_NO_MITSHM=1
- BASE_WS=/home/ros/base_ws
- ROS_DOMAIN_ID=0
Expand All @@ -70,21 +92,30 @@ services:
dockerfile: docker/Dockerfile
container_name: communications
hostname: communications
network_mode: bridge
ipc: "host"
ipc: "service:vnc"
networks:
- sheep_net
tty: true
stdin_open: true
devices:
- "/dev/ttyVserver:/dev/ttyVserver"
- "/dev/ttyVrobot:/dev/ttyVrobot"
# devices:
# - "/dev/ttyVserver:/dev/ttyVserver"
# - "/dev/ttyVrobot:/dev/ttyVrobot"
group_add:
- dialout
volumes:
- ../auto_shepherd_communications/auto_shepherd_communications_ros2:/home/ros/base_ws/src/auto_shepherd_communications_ros2:rw
- ../auto_shepherd_communications/bash_scripts/container:/home/ros/bash_scripts:rw
- /tmp/.X11-unix:/tmp/.X11-unix:rw
# - /tmp/.X11-unix:/tmp/.X11-unix:rw
- x11:/tmp/.X11-unix
environment:
- DISPLAY=${DISPLAY}
- DISPLAY=${DISPLAY:-:1}
- QT_X11_NO_MITSHM=1
- BASE_WS=/home/ros/base_ws
- ROS_DOMAIN_ID=0

volumes:
x11:

networks:
sheep_net:
driver: bridge