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# Buster Leader-Follower Control Component
buster-leader-follower:
container_name: buster_leader_follower
image: ${ECR_REGISTRY}${ECR_REGISTRY:+/}buster-leader-follower:${BUSTER_TAG}
restart: unless-stopped
ports:
- "${LEADER_FOLLOWER_PORT}:8080"
networks:
- buster-network
environment:
# ROS2 Configuration
ROS_DOMAIN_ID: ${ROS_DOMAIN_ID}
RMW_IMPLEMENTATION: rmw_fastrtps_cpp
# Skynet Connection
SKYNET_BASE_URL: ${SKYNET_BASE_URL}
HEARTBEAT_INTERVAL: ${HEARTBEAT_INTERVAL}
COMMAND_POLL_INTERVAL: ${COMMAND_POLL_INTERVAL}
COMPONENT_ID: buster-leader-follower
COMPONENT_NAME: "Buster Leader-Follower Control"
COMPONENT_TYPE: control
COMPONENT_HOST: buster-leader-follower
COMPONENT_DESCRIPTION: "Buster leader-follower control"
volumes:
# Data recording storage - shared across components
- ./bags:/bags:rw
# Health check for integrated component
healthcheck:
test: ["CMD", "bash", "-c", ". /opt/ros/humble/setup.bash && ros2 topic list > /dev/null && python3 -c 'import requests; print(\"healthy\")'"]
interval: 30s
timeout: 10s
retries: 3
start_period: 60s
# Logging configuration
logging:
driver: "json-file"
options:
max-size: "10m"
max-file: "3"
# Buster Robot Embodiment Component
buster-embodiment:
container_name: buster_embodiment
image: ${ECR_REGISTRY}${ECR_REGISTRY:+/}buster-embodiment:${BUSTER_TAG}
restart: unless-stopped
ports:
- "${EMBODIMENT_PORT}:8080"
networks:
- buster-network
environment:
# ROS2 Configuration
ROS_DOMAIN_ID: ${ROS_DOMAIN_ID}
RMW_IMPLEMENTATION: rmw_fastrtps_cpp
# Skynet Connection
SKYNET_BASE_URL: ${SKYNET_BASE_URL}
HEARTBEAT_INTERVAL: ${HEARTBEAT_INTERVAL}
COMMAND_POLL_INTERVAL: ${COMMAND_POLL_INTERVAL}
COMPONENT_ID: buster-embodiment
COMPONENT_NAME: "Buster Robot Embodiment"
COMPONENT_TYPE: embodiment
COMPONENT_HOST: buster-embodiment
COMPONENT_DESCRIPTION: "Buster embodiment"
volumes:
# Data recording storage - shared across components
- ./bags:/bags:rw
# Health check for integrated component
healthcheck:
test: ["CMD", "bash", "-c", ". /opt/ros/humble/setup.bash && ros2 topic list > /dev/null && python3 -c 'import requests; print(\"healthy\")'"]
interval: 30s
timeout: 10s
retries: 3
start_period: 60s
# Logging configuration
logging:
driver: "json-file"
options:
max-size: "10m"
max-file: "3"
# Centralized Data Capture Service
data-capture:
container_name: buster_data_capture
image: ${ECR_REGISTRY}${ECR_REGISTRY:+/}data-capture:${BUSTER_TAG}
restart: unless-stopped
ports:
- "${DATA_CAPTURE_PORT}:8080"
networks:
- buster-network
environment:
# ROS2 Configuration
ROS_DOMAIN_ID: ${ROS_DOMAIN_ID}
RMW_IMPLEMENTATION: rmw_fastrtps_cpp
# Skynet Connection
SKYNET_BASE_URL: ${SKYNET_BASE_URL}
HEARTBEAT_INTERVAL: ${HEARTBEAT_INTERVAL}
COMMAND_POLL_INTERVAL: ${COMMAND_POLL_INTERVAL}
COMPONENT_ID: buster-data-capture
COMPONENT_NAME: "Buster Data Capture Service"
COMPONENT_TYPE: data_capture
COMPONENT_HOST: data-capture
COMPONENT_DESCRIPTION: "Centralized data recording service for all ROS2 topics"
volumes:
# Data recording storage
- ./bags:/bags:rw
# Configuration files
- ./config/data-capture.yaml:/app/config/capture_config.yaml:ro
# Health check
healthcheck:
test: ["CMD", "bash", "-c", ". /opt/ros/humble/setup.bash && ros2 topic list > /dev/null"]
interval: 30s
timeout: 10s
retries: 3
start_period: 30s
# Logging configuration
logging:
driver: "json-file"
options:
max-size: "10m"
max-file: "3"
networks:
buster-network:
driver: bridge
name: buster-component
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