| version: "3.8" | |
| ################################################################################ | |
| services: | |
| robotic-mechanochemistry-ros: | |
| hostname: robotic_mechanochemistry_ros | |
| runtime: ${DOCKER_RUNTIME} | |
| privileged: true | |
| image: robotic_mechanochemistry_ros_noetic | |
| environment: | |
| # Pass host user information. | |
| - HOST_USER=${USER} | |
| - HOST_UID=1000 | |
| - HOST_GID=1000 | |
| # Display X Server GUI. | |
| - DISPLAY | |
| - QT_X11_NO_MITSHM=1 | |
| build: | |
| context: . | |
| dockerfile: ./Dockerfile | |
| volumes: | |
| # Map ROS workspace folders. | |
| - ../../:/root/catkin_ws/src/powder_grinding | |
| # Grant display access to X Server. | |
| - /tmp/.X11-unix:/tmp/.X11-unix | |
| # Grant access to usb ports | |
| - /dev/:/dev/ | |
| network_mode: "host" | |
| extra_hosts: | |
| - "host:127.0.0.1" # Seems that this might be needed for ROS networking | |
| - "host:192.168.56.5" # The host PC | |
| - "ur:192.168.56.42" # UR IP | |
| - "cobotta:192.168.56.11" # cobotta IP | |
| expose: | |
| - "50001" # send commnad to UR | |
| - "50002" # external control of UR | |
| - "50003" # recerve commnad from UR | |
| - "50004" # script_command_port of UR | |
| - "5007" # cobotta | |
| tty: true | |