compose.sim.gazebo.yaml

# Quick Start
# $ xhost local:root
# $ docker compose -f compose.sim.gazebo.yaml up

services:
  rviz:
    image: husarion/rviz2:galactic-8.5.2-20230204-stable
    runtime: nvidia
    network_mode: host
    ipc: host
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./config/rosbot.rviz:/root/.rviz2/default.rviz
    environment:
      - RMW_IMPLEMENTATION
      - DISPLAY=${DISPLAY:?err}
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all

  rosbot-xl:
    image: husarion/rosbot-xl-gazebo:humble-0.3.0-20230204
    runtime: nvidia
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
    network_mode: host
    ipc: host
    environment:
      - RMW_IMPLEMENTATION
      - DISPLAY=${DISPLAY:?err}
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
    command: ros2 launch rosbot_xl_gazebo simulation.launch.py mecanum:=${MECANUM:-True}

  navigation:
    image: husarion/navigation2:humble-1.1.5-20230206-stable
    network_mode: host
    ipc: host
    volumes:
      - ./config/${NAV2_PARAMS:-nav2_params.yaml}:/nav2_params.yaml
      # modified behaviour tree that doesn't replan global path
      # (it is used only when specified by default_nav_to_pose_bt_xml parameter)
      - ./config/navigate_w_recovery.xml:/navigate_w_recovery.xml
    environment:
      - RMW_IMPLEMENTATION
    command: >
      ros2 launch nav2_bringup navigation_launch.py
        params_file:=/nav2_params.yaml
        use_sim_time:=True

  localization:
    image: husarion/navigation2:humble-1.1.5-20230206-stable
    network_mode: host
    ipc: host
    volumes:
      - ./config/${AMCL_PARAMS:-amcl_params.yaml}:/amcl_params.yaml
      - ./maps:/maps
    environment:
      - RMW_IMPLEMENTATION
    command: >
      ros2 launch nav2_bringup localization_launch.py
        params_file:=/amcl_params.yaml
        map:=/maps/map.yaml
        use_sim_time:=True