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docker-compose-base.yaml
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services:
people-base:
environment:
- DISPLAY
- XAUTHORITY=/tmp/.docker.xauth
- NVIDIA_DRIVER_CAPABILITIES=compute,graphics,utility,video,display
- NVIDIA_VISIBLE_DEVICES=all
- OMP_NUM_THREADS=1
- HOST_UID
- HOST_GID
- HOST_TZ
- ROS_LOG_DIR
# CaBot
- CABOT_GAZEBO=${CABOT_GAZEBO:-1}
- CABOT_SITE
- CABOT_SHOW_PEOPLE_RVIZ=${CABOT_SHOW_PEOPLE_RVIZ:-0}
- CABOT_PUBLISH_DETECT_IMAGE=${CABOT_PUBLISH_DETECT_IMAGE:-0}
- CABOT_USE_REALSENSE=${CABOT_USE_REALSENSE:-0}
- CABOT_REALSENSE_SERIAL
- CABOT_CAMERA_NAME
- CABOT_CAMERA_RGB_FPS
- CABOT_CAMERA_DEPTH_FPS
- CABOT_CAMERA_RESOLUTION
- CABOT_DETECT_VERSION=${CABOT_DETECT_VERSION:-3}
- CABOT_DETECT_PEOPLE_CONF_THRES=${CABOT_DETECT_PEOPLE_CONF_THRES:-0.6}
- CABOT_DETECT_PEOPLE_CLEAR_TIME=${CABOT_DETECT_PEOPLE_CLEAR_TIME:-0.2}
- CABOT_LOW_OBSTABLE_DETECT_VERSION=${CABOT_LOW_OBSTABLE_DETECT_VERSION:-0}
- CABOT_HEADLESS
- CABOT_PEOPLE_TRACK_FPS
- RMW_IMPLEMENTATION
- ROS_LOCALHOST_ONLY
- ROS_DOMAIN_ID
- CYCLONEDDS_URI
- CYCLONEDDS_NETWORK_INTERFACE_NAME
- CYCLONEDDS_NETWORK_INTERFACE_AUTODETERMINE # set automatically by launch.sh
volumes:
- /dev:/dev
- /sys/devices:/sys/devices
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- /tmp/.docker.xauth:/tmp/.docker.xauth
privileged: true
devices:
- /dev/dri
cap_add:
- SYS_ADMIN
- NET_ADMIN
network_mode: host
stop_signal: SIGINT
stop_grace_period: 30s
people-nuc-base:
extends:
service: people-base
image: cmucal/cabot-people-nuc:${CABOT_LAUNCH_IMAGE_TAG:-latest}
build:
context: ./docker/people
additional_contexts:
- src=./
dockerfile: Dockerfile.nuc
args:
- BASE_IMAGE=${NUC_BASE_IMAGE:-cabot-base}
x-bake:
tags:
- ${REGISTRY:-cmucal}/cabot-people-nuc
platforms:
- linux/amd64
output:
- type=registry
command:
- "/launch.sh"
- "-W" # wait roscore
- "-K" # tracking
- "-O" # obstacle
people-nuc-dev-base:
extends:
service: people-nuc-base
volumes:
- ./cabot-common/cabot_common:/home/developer/people_nuc_ws/src/cabot_common
- ./cabot-common/cabot_msgs:/home/developer/people_nuc_ws/src/cabot_msgs
- ./cabot_people:/home/developer/people_nuc_ws/src/cabot_people
- ./track_people_py:/home/developer/people_nuc_ws/src/track_people_py
- ./track_people_msgs:/home/developer/people_nuc_ws/src/track_people_msgs
- ./track_people_cpp:/home/developer/people_nuc_ws/src/track_people_cpp
people-nuc-dev:
extends:
service: people-nuc-dev-base
environment:
- CABOT_GAZEBO=0
- CABOT_USE_REALSENSE=1
volumes:
- ./docker/home:/home/developer/
people-nuc-prod-base:
extends:
service: people-nuc-base
volumes:
- ./docker/home/.ros:/home/developer/.ros
people-nuc-prod:
extends:
service: people-nuc-prod-base
environment:
- CABOT_GAZEBO=0
- CABOT_USE_REALSENSE=1
people-all-base:
extends:
service: people-base
image: cmucal/cabot-people:${CABOT_LAUNCH_IMAGE_TAG:-latest}
build:
context: ./docker/people
additional_contexts:
- src=./
args:
- BASE_IMAGE=${BASE_IMAGE:-cabot-gpu-base}
x-bake:
tags:
- ${REGISTRY:-cmucal}/cabot-people
platforms:
- linux/amd64
- linux/arm64
output:
- type=registry
command:
- "/launch.sh"
# - "/launch-core.sh" # use core dump
- "-W" # wait roscore
# - "-p" # people topic is simulation groundtruth
- "-D" # detection
- "-K" # tracking
- "-O" # obstacle
people-all-dev-base:
extends:
service: people-all-base
volumes:
- ./cabot-common/cabot_common:/home/developer/people_ws/src/cabot_common
- ./cabot-common/cabot_msgs:/home/developer/people_ws/src/cabot_msgs
- ./cabot_people:/home/developer/people_ws/src/cabot_people
- ./track_people_py:/home/developer/people_ws/src/track_people_py
- ./track_people_msgs:/home/developer/people_ws/src/track_people_msgs
- ./track_people_cpp:/home/developer/people_ws/src/track_people_cpp
people-all-dev:
extends:
service: people-all-dev-base
environment:
- CABOT_GAZEBO=0
- CABOT_USE_REALSENSE=1
volumes:
- ./docker/home:/home/developer/
people-all-prod-base:
extends:
service: people-all-base
volumes:
- ./docker/home/.ros:/home/developer/.ros
people-all-prod:
extends:
service: people-all-prod-base
environment:
- CABOT_GAZEBO=0
- CABOT_USE_REALSENSE=1
people-detection-base:
extends:
service: people-all-base
command:
- "/launch.sh"
# - "/launch-core.sh" # use core dump
- "-W" # wait roscore
# - "-p" # people topic is simulation groundtruth
- "-D" # detection
- "-a" # no resetrs individually
people-detection-dev-base:
extends:
service: people-detection-base
volumes:
- ./cabot-common/cabot_common:/home/developer/people_ws/src/cabot_common
- ./cabot-common/cabot_msgs:/home/developer/people_ws/src/cabot_msgs
- ./cabot_people:/home/developer/people_ws/src/cabot_people
- ./track_people_py:/home/developer/people_ws/src/track_people_py
- ./track_people_msgs:/home/developer/people_ws/src/track_people_msgs
- ./track_people_cpp:/home/developer/people_ws/src/track_people_cpp
people-detection-prod-base:
extends:
service: people-detection-base
volumes:
- ./docker/home/.ros:/home/developer/.ros
people-track-base:
extends:
service: people-all-base
command:
- "/launch.sh"
- "-W" # wait roscore
- "-K" # tracking
- "-O" # obstacle
people-track-dev-base:
extends:
service: people-track-base
volumes:
- ./cabot-common/cabot_common:/home/developer/people_ws/src/cabot_common
- ./cabot-common/cabot_msgs:/home/developer/people_ws/src/cabot_msgs
- ./cabot_people:/home/developer/people_ws/src/cabot_people
- ./track_people_py:/home/developer/people_ws/src/track_people_py
- ./track_people_msgs:/home/developer/people_ws/src/track_people_msgs
- ./track_people_cpp:/home/developer/people_ws/src/track_people_cpp
people-track-prod-base:
extends:
service: people-track-base
volumes:
- ./docker/home/.ros:/home/developer/.ros
people-framos-all-base:
extends:
service: people-all-base
image: cmucal/cabot-people-framos:${CABOT_LAUNCH_IMAGE_TAG:-latest}
build:
context: ./docker/people
dockerfile: Dockerfile.framos
x-bake:
tags:
- ${REGISTRY:-cmucal}/cabot-people-framos
platforms:
- linux/amd64
- linux/arm64
output:
- type=registry
people-framos-all-dev-base:
extends:
service: people-framos-all-base
volumes:
- ./cabot-common/cabot_common:/home/developer/people_framos_ws/src/cabot_common
- ./cabot-common/cabot_msgs:/home/developer/people_framos_ws/src/cabot_msgs
- ./cabot_people:/home/developer/people_framos_ws/src/cabot_people
- ./track_people_py:/home/developer/people_framos_ws/src/track_people_py
- ./track_people_msgs:/home/developer/people_framos_ws/src/track_people_msgs
- ./track_people_cpp:/home/developer/people_framos_ws/src/track_people_cpp
people-framos-all-dev:
extends:
service: people-framos-all-dev-base
environment:
- CABOT_GAZEBO=0
- CABOT_USE_REALSENSE=1
volumes:
- ./docker/home:/home/developer/
people-framos-all-prod-base:
extends:
service: people-framos-all-base
volumes:
- ./docker/home/.ros:/home/developer/.ros
people-framos-camera-base:
extends:
service: people-framos-all-base
command:
- "/launch.sh"
# - "/launch-core.sh" # use core dump
- "-W" # wait roscore
# - "-p" # people topic is simulation groundtruth
- "-c 2" # use FRAMOS camera
- "-a" # no resetrs individually
people-framos-camera-dev-base:
extends:
service: people-framos-camera-base
volumes:
- ./cabot-common/cabot_common:/home/developer/people_framos_ws/src/cabot_common
- ./cabot-common/cabot_msgs:/home/developer/people_framos_ws/src/cabot_msgs
- ./cabot_people:/home/developer/people_framos_ws/src/cabot_people
- ./track_people_py:/home/developer/people_framos_ws/src/track_people_py
- ./track_people_msgs:/home/developer/people_framos_ws/src/track_people_msgs
- ./track_people_cpp:/home/developer/people_framos_ws/src/track_people_cpp
people-framos-camera-prod-base:
extends:
service: people-framos-camera-base
volumes:
- ./docker/home/.ros:/home/developer/.ros
people-framos-all-prod:
extends:
service: people-framos-all-prod-base
environment:
- CABOT_GAZEBO=0
- CABOT_USE_REALSENSE=1
people-framos-detection-base:
extends:
service: people-framos-all-base
command:
- "/launch.sh"
# - "/launch-core.sh" # use core dump
- "-W" # wait roscore
# - "-p" # people topic is simulation groundtruth
- "-D" # detection
people-framos-detection-dev-base:
extends:
service: people-framos-detection-base
volumes:
- ./cabot-common/cabot_common:/home/developer/people_framos_ws/src/cabot_common
- ./cabot-common/cabot_msgs:/home/developer/people_framos_ws/src/cabot_msgs
- ./cabot_people:/home/developer/people_framos_ws/src/cabot_people
- ./track_people_py:/home/developer/people_framos_ws/src/track_people_py
- ./track_people_msgs:/home/developer/people_framos_ws/src/track_people_msgs
- ./track_people_cpp:/home/developer/people_framos_ws/src/track_people_cpp
people-framos-detection-prod-base:
extends:
service: people-framos-detection-base
volumes:
- ./docker/home/.ros:/home/developer/.ros