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compose.sim.gazebo.yaml
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compose.sim.gazebo.yaml
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x-gpu-config:
&gpu-config
runtime: nvidia
env_file: .env.gpu
services:
rosbot:
image: husarion/rosbot-gazebo:humble-0.13.0-20240115
<<: *gpu-config
volumes:
- /tmp/.X11-unix:/tmp/.X11-unix:rw
environment:
- ROBOT_NAMESPACE=${ROBOT_NAMESPACE}
command: >
ros2 launch rosbot_gazebo simulation.launch.py
mecanum:=${MECANUM:-True}
namespace:=${ROBOT_NAMESPACE}
navigation:
image: husarion/navigation2:humble-1.1.12-20240123
<<: *gpu-config
volumes:
- ./config/nav2_${CONTROLLER:-rpp}_params.yaml:/params.yaml
- ./maps:/maps
environment:
- ROBOT_NAMESPACE=${ROBOT_NAMESPACE}
- SAVE_MAP_PERIOD=${SAVE_MAP_PERIOD}
command: >
ros2 launch /husarion_utils/bringup_launch.py
slam:=${SLAM:-True}
params_file:=/params.yaml
map:=/maps/map.yaml
use_sim_time:=True
rviz:
image: husarion/rviz2:humble-11.2.6-20230809
<<: *gpu-config
depends_on:
rosbot: { condition: service_healthy }
navigation: { condition: service_healthy }
volumes:
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- ./config/rosbot.rviz:/default.rviz
command: >
rviz2 -d /default.rviz --ros-args
-r /tf:=tf
-r /tf_static:=tf_static
-r __ns:=/${ROBOT_NAMESPACE}