ESP-ROS2/docker-compose.yaml at main · c-lydia/ESP-ROS2 · GitHub

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services:
  workspace:
    build: .
    container_name: micro_ros_workspace
    environment:
      DISPLAY: ${DISPLAY}
      WAYLAND_DISPLAY: ${WAYLAND_DISPLAY}
      XDG_RUNTIME_DIR: ${XDG_RUNTIME_DIR}
      QT_X11_NO_MITSHM: "1"
      GDK_BACKEND: x11
      SDL_VIDEODRIVER: x11
    volumes:
      - ./src:/micro_ros_ws/src
      - ./build:/micro_ros_ws/build
      - ./install:/micro_ros_ws/install
      - ./docs:/micro_ros_ws/docs
      - ./firmware:/micro_ros_ws/firmware
      - ./pcb:/micro_ros_ws/pcb
      - ./wall_e_ws:/micro_ros_ws/wall_e_ws
      - ./gas_robot_ws:/micro_ros_ws/gas_robot_ws
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
    working_dir: /micro_ros_ws
    command: >
      bash -c "rosdep install --from-paths src --ignore-src -y 2>/dev/null || true
      && colcon build || echo 'Build failed, keeping container alive...'
      && tail -f /dev/null"
    stdin_open: true
    tty: true
    devices:
      - /dev/ttyUSB0:/dev/ttyUSB0
      - /dev/input:/dev/input
    networks:
      - micro_ros_net

  micro_ros_agent:
    image: microros/micro-ros-agent:humble
    container_name: micro_ros_agent
    command: udp4 --port 9999
    networks:
      - micro_ros_net

networks:
  micro_ros_net:
    driver: bridge

volumes:
  micro_ros_ws_build:
  micro_ros_ws_install: