docker-compose.yml

---
#------------------------------------------------------------------------------
# UNIFIED DOCKER COMPOSE
#------------------------------------------------------------------------------

x-common-base: &common-base
  privileged: true
  network_mode: host
  env_file:
    - .env
  stdin_open: true
  tty: true
  pull_policy: build
  ipc: host
  pid: "host"

x-build-template_system: &build-template_system
  context: .
  dockerfile: dockerfiles/template_system.dockerfile
  args:
    - ROS_DISTRO=${ROS_DISTRO}
    - PIP_BREAK_SYSTEM_PACKAGES=${PIP_BREAK_SYSTEM_PACKAGES}
    - HOST_UID=${HOST_UID}
    - HOST_GID=${HOST_GID}
    - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
    - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION}
  target: runtime

x-package-base: &package-base
  <<: *common-base
  build:
    <<: *build-template_system
  volumes:
    - ./packages/src:/home/ubuntu/workspace/packages/src:cached
    - ./config:/home/ubuntu/workspace/config:ro
    - /var/run/lttng:/var/run/lttng:rw

x-physical-base: &physical-base
  <<: *common-base
  build:
    <<: *build-template_system
  volumes:
    # Packages
    - ./packages/src:/home/ubuntu/workspace/packages/src:cached
    # Config
    - ./config:/home/ubuntu/workspace/config:ro
    # IO
    - /dev:/dev
    # Tracing
    - /var/run/lttng:/var/run/lttng:rw

x-gui-base: &gui-base
  <<: *common-base
  build:
    <<: *build-template_system
  volumes:
    # Packages
    - ./packages/src:/home/ubuntu/workspace/packages/src:cached
    # Config
    - ./config:/home/ubuntu/workspace/config:ro
    # GUI
    - /tmp/.X11-unix:/tmp/.X11-unix:rw
    - ${XDG_RUNTIME_DIR}:/tmp/runtime-ubuntu:rw
    # Tracing
    - /var/run/lttng:/var/run/lttng:rw
  environment:
    - DISPLAY=${DISPLAY}
    - XDG_RUNTIME_DIR=/tmp/runtime-ubuntu
    - QT_X11_NO_MITSHM=1

x-dev-base: &dev-base
  <<: *common-base
  build:
    <<: *build-template_system
    target: development
  user: "ubuntu"
  volumes:
    # Workspace
    - .:/home/ubuntu/workspace:cached
    # IO
    - /dev:/dev
    # GUI
    - /tmp/.X11-unix:/tmp/.X11-unix:rw
    - ${XDG_RUNTIME_DIR}:/tmp/runtime-ubuntu:rw
    # Tracing
    - /var/run/lttng:/var/run/lttng:rw
  environment:
    - DISPLAY=${DISPLAY}
    - XDG_RUNTIME_DIR=/tmp/runtime-ubuntu
    - QT_X11_NO_MITSHM=1

services:
  #==============================================================================
  # DEVELOPMENT SERVICES
  #==============================================================================
  development:
    <<: *dev-base
    image: development:latest
    container_name: development
    command: ["/bin/bash"]
    profiles: ["dev"]

  #==============================================================================
  # CORE NETWORK SERVICES
  #==============================================================================
  zenohd:
    build:
      <<: *build-template_system
    privileged: true
    network_mode: host
    env_file:
      - .env
    stdin_open: true
    tty: true
    pull_policy: build
    ipc: host
    image: zenohd:latest
    container_name: zenohd
    command: ["ros2", "run", "rmw_zenoh_cpp", "rmw_zenohd"]
    profiles: ["core", "dev", "demo", "app", "tools"]

  #==============================================================================
  # DEMO SERVICES
  #==============================================================================
  talker:
    <<: *package-base
    build:
      <<: *build-template_system
      args:
        - INSTALL_PACKAGE_NAMES=${DEMO_PACKAGES}
    image: talker:latest
    container_name: talker
    command: ["ros2", "run", "demo_nodes_cpp", "talker"]
    profiles: ["demo"]

  listener:
    <<: *package-base
    build:
      <<: *build-template_system
      args:
        - INSTALL_PACKAGE_NAMES=${DEMO_PACKAGES}
    image: listener:latest
    container_name: listener
    command: ["ros2", "run", "demo_nodes_cpp", "listener"]
    profiles: ["demo"]

  #==============================================================================
  # TEMPLATE SYSTEM SERVICES
  #==============================================================================
  template_system:
    <<: *package-base
    build:
      <<: *build-template_system
      args:
        - PACKAGE_NAMES=template_system
    image: template_system:latest
    container_name: template_system
    command:
      [
        "ros2",
        "launch",
        "template_system",
        "multi_node_system.launch.py",
        "system_config_file:=${SYSTEM_CONFIG_FILE}",
        "namespace:=${TEMPLATE_NAMESPACE}",
        "config_dir:=/home/ubuntu/workspace/config",
      ]
    profiles: ["app"]

  #==============================================================================
  # RQT SERVICES
  #==============================================================================
  rqt_base:
    <<: *gui-base
    build:
      <<: *build-template_system
      args:
        - INSTALL_PACKAGE_NAMES=${RQT_PACKAGES}
    image: rqt:latest
    container_name: rqt
    command: ["rqt"]
    profiles: ["tools"]

  rqt_reconfigure:
    extends: rqt_base
    container_name: rqt_reconfigure
    profiles: ["tools"]
    command: ["ros2", "run", "rqt_reconfigure", "rqt_reconfigure"]

  rqt_graph:
    extends: rqt_base
    container_name: rqt_graph
    command: ["ros2", "run", "rqt_graph", "rqt_graph"]
    profiles: ["tools"]

  #==============================================================================
  # TRACING SERVICES
  #==============================================================================
  tracing:
    <<: *package-base
    image: tracing:latest
    container_name: tracing
    user: root
    volumes:
      - /var/run/lttng:/var/run/lttng:rw
      - ./traces:/home/ubuntu/workspace/traces:rw
    command:
      [
        "/bin/bash",
        "-c",
        "source /home/ubuntu/tracing/install/setup.bash && ROS_TRACE_DIR=${ROS_TRACE_DIR} ros2 trace && chown -R 1000:1000 /home/ubuntu/workspace/traces",
      ]
    profiles: ["tools"]

  analysis:
    <<: *package-base
    volumes:
      - .:/home/ubuntu/workspace
    image: tracing:latest
    container_name: analysis
    command: ["/bin/bash"]
    profiles: ["tools"]

  test_tracing:
    <<: *package-base
    image: test_tracing:latest
    container_name: test_tracing
    command:
      [
        "/bin/bash",
        "-c",
        "while true; do ros2 topic pub /test_topic std_msgs/String 'data: hello'; sleep 0.01; done",
      ]
    profiles: ["tools"]