docker-compose.yaml

version: '3.8'

services:
  master:
    image: sskorol/rosmaster:latest
    network_mode: host
    command:
      - roscore

  bridge:
    image: sskorol/rosmaster:latest
    network_mode: host
    environment:
      - ROS_MASTER_URI=http://localhost:11311
    depends_on:
      - master
    command:
      - roslaunch
      - --wait
      - rosbridge_server
      - rosbridge_websocket.launch

  backend:
    image: sskorol/minipupper-be:latest
    network_mode: host
    build: ./backend
    volumes:
      - /dev/bus/usb:/dev/bus/usb
    device_cgroup_rules:
      - 'c 189:* rmw'
    environment:
      - PYTHONUNBUFFERED=1

  frontend:
    image: sskorol/minipupper-fe:latest
    network_mode: host
    build: ./frontend
    environment:
      - REACT_APP_ROSBRIDGE_SERVER_IP=$HOST_IP
      - REACT_APP_ROSBRIDGE_SERVER_PORT=9090
      - REACT_APP_RECONNECTION_TIMER=1000
      - REACT_APP_BE_URL=http://$HOST_IP:8080
    depends_on:
      - bridge
      - backend

  servo:
    image: sskorol/minipupper-core:latest
    privileged: true
    network_mode: host
    depends_on:
      - master
      - teleop
      - smoother
    volumes:
      - ./calibration_settings.yaml:/root/minipupper_ws/src/servo_interface/config/calibration_settings.yaml
      - /sys/class/pwm/pwmchip0:/sys/class/pwm/pwmchip0
      - /sys/class/gpio:/sys/class/gpio
    environment:
      - PYTHONUNBUFFERED=1
      - ROS_MASTER_URI=http://localhost:11311
    command:
      - roslaunch
      - --wait
      - mini_pupper
      - no.smoother.bringup.launch

  smoother:
    image: sskorol/minipupper-core:latest
    network_mode: host
    depends_on:
      - master
    environment:
      - ROS_MASTER_URI=http://localhost:11311
    command:
      - roslaunch
      - --wait
      - champ_bringup
      - velocity_smoother.launch

  teleop:
    image: sskorol/minipupper-core:latest
    network_mode: host
    environment:
      - PYTHONUNBUFFERED=1
      - ROS_MASTER_URI=http://localhost:11311
    depends_on:
      - master
      - bridge
      - smoother
    command:
      - rosrun
      - teleop_legged_robots
      - teleop_legged_robots.py