docker-compose.yml

version: '3.9'

# Docker compose that start the markhor navigation stack
services:
  markhor_gazebo:
    command: roslaunch markhor_gazebo test_world.launch
    image: ghcr.io/clubcapra/markhor/markhor:latest
    restart: always
    ports:
      - 9090:9090
    environment:
      - DISPLAY=host.docker.internal:0.0
      - QT_X11_NO_MITSHM=1
      - GAZEBO_GUI=true
      - ROS_MASTER_URI=http://markhor_gazebo:11311
    networks:
      - markhor_network
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: 1
              capabilities: [gpu]
    privileged: true
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
  markhor_slam:
    command: roslaunch markhor_slam markhor_slam.launch
    image: ghcr.io/clubcapra/markhor/markhor:latest
    environment:
      - ROS_MASTER_URI=http://markhor_gazebo:11311
    networks:
      - markhor_network
    restart: always
    privileged: true
    depends_on:
      - markhor_gazebo

  markhor_navigation:
    command: roslaunch markhor_navigation markhor_nav.launch
    image: ghcr.io/clubcapra/markhor/markhor:latest
    environment:
      - ROS_MASTER_URI=http://markhor_gazebo:11311
    networks:
      - markhor_network
    privileged: true
    restart: always
    depends_on:
      - markhor_gazebo
      - markhor_slam

  markhor_viz:
    command: roslaunch markhor_description display_markhor.launch
    image: ghcr.io/clubcapra/markhor/markhor:latest
    networks:
      - markhor_network
    restart: always
    environment:
      - DISPLAY=host.docker.internal:0.0
      - QT_X11_NO_MITSHM=1
      - GAZEBO_GUI=true
      - ROS_MASTER_URI=http://markhor_gazebo:11311
    volumes:
        - /tmp/.X11-unix:/tmp/.X11-unix
    depends_on:
      - markhor_gazebo

networks:
  markhor_network:
    driver: bridge