docker-compose.yml

version: "3.9"

services:
  roscore:
    build: .
    ports:
      - "11311:11311"
    environment:
      - ROS_MASTER_URI
    command: roscore

  naoqi-driver:
    build:
      context: https://github.com/TomKingsfordUoA/naoqi_driver.git#feature/support-for-simulated-robot
      dockerfile: Dockerfile
    environment:
      - ROS_MASTER_URI
      - ROS_HOSTNAME=$HOSTNAME_NAOQI_DRIVER
    # a virtual robot is assumed to be running in Choreographe on the host, and this is forwarded via the Docker network
    # gateway. Use this command to launch the virtual robot such that it accepts incoming connections outside localhost:
    #  `"/opt/Softbank Robotics/Choregraphe Suite 2.8/bin/naoqi-bin" -p 9559 -b 0.0.0.0`
    entrypoint: /bin/bash
    command: -c "sleep 5; source /catkin_ws/devel/setup.bash; rosrun naoqi_driver naoqi_driver_node --qi-url=tcp://${GATEWAY}:${ROBOT_PORT} --roscore_ip=${ROS_MASTER_HOSTNAME}"

  nao-gestures:
    build:
      context: https://github.com/TomKingsfordUoA/NaoGestures.git#master
      dockerfile: Dockerfile
    environment:
      - ROS_MASTER_URI
      - ROS_HOSTNAME=$HOSTNAME_NAO_GESTURES
    command: bash -c "sleep 5; python nao_gestures/cli.py --use_ros --dest_ip='${ROS_MASTER_HOSTNAME}' --dest_port=11311 --my_ip='${HOSTNAME_NAO_GESTURES}'"

  # provided for debug purposes only...
  topic-subscriber:
    build:
      context: https://github.com/TomKingsfordUoA/NaoGestures.git#master
      dockerfile: Dockerfile
    environment:
      - ROS_MASTER_URI
      - ROS_HOSTNAME=topic-subscriber
    depends_on:
      - roscore
    command: bash -c "sleep 5; rostopic echo /joint_angles"

  co-speech-gesture-generator:
    build: .
    environment:
      - ROS_MASTER_URI
      - ROS_HOSTNAME=$HOSTNAME_CO_SPEECH_GESTURE_GENERATOR
    depends_on:
      - roscore
    command: bash -c "sleep 10; python3 srf_reference_implementations/cli.py --use_ros -m srf_reference_implementations.Yoon2018 -t srf_reference_implementations/interfaces/test_resources/GENEA_sample_transcript_cleaned.json"

networks:
  default:
    ipam:
      config:
        - subnet: "${GATEWAY}/24"