compose.rosbot.vpn.yaml

# Quick Start (at fist stop ROS Master if working on host)
# $ docker compose -f compose.rosbot.hardware.yaml -f compose.rosbot.vpn.yaml up

services:

  localization-mapping:
    # network_mode: service:husarnet-rosbot
    # ipc: service:husarnet-rosbot
    network_mode: host
    ipc: host
    volumes:
      - ./secret/dds-config.xml:/dds-config.xml
    environment:
      # - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
      # - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-rmw_fastrtps_cpp}
      - FASTRTPS_DEFAULT_PROFILES_FILE=/dds-config.xml

  navigation:
    # network_mode: service:husarnet-rosbot
    # ipc: service:husarnet-rosbot
    network_mode: host
    ipc: host
    volumes:
      - ./secret/dds-config.xml:/dds-config.xml
    environment:
      # - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
      # - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-rmw_fastrtps_cpp}
      - FASTRTPS_DEFAULT_PROFILES_FILE=/dds-config.xml

  rplidar:
    # network_mode: service:husarnet-rosbot
    # ipc: service:husarnet-rosbot
    network_mode: host
    ipc: host
    volumes:
      - ./secret/dds-config.xml:/dds-config.xml
    environment:
      # - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
      # - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-rmw_fastrtps_cpp}
      - FASTRTPS_DEFAULT_PROFILES_FILE=/dds-config.xml

  bridge:
    # network_mode: service:husarnet-rosbot
    # ipc: service:husarnet-rosbot
    network_mode: host
    ipc: host
    volumes:
      - ./secret/dds-config.xml:/dds-config.xml
    environment:
      # - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
      # - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-rmw_fastrtps_cpp}
      - FASTRTPS_DEFAULT_PROFILES_FILE=/dds-config.xml
      - ROS_IP=127.0.0.1
      - ROS_MASTER_URI=http://127.0.0.1:11311

  ros-master:
    network_mode: host
    ipc: host
    environment:
      - ROS_IP=127.0.0.1

  rosbot:
    network_mode: host
    ipc: host
    environment:
      - ROS_IP=127.0.0.1
      - ROS_MASTER_URI=http://127.0.0.1:11311

  # husarnet-rosbot:
  #   image: husarnet/husarnet
  #   ipc: shareable
  #   volumes:
  #     - /var/lib/husarnet
  #     - ./secret/id_rosbot:/var/lib/husarnet/id
  #   sysctls:
  #     - net.ipv6.conf.all.disable_ipv6=0
  #   cap_add:
  #     - NET_ADMIN
  #   devices:
  #     - /dev/net/tun
  #   environment:
  #     - HOSTNAME=rosbot
  #     - JOINCODE=${JOINCODE:?find JOINCODE at https://app.husarnet.com}