HTCvive-ROS/docker-compose.yaml at main · carrotFoxx/HTCvive-ROS · GitHub

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version: "3.3"

services:

  roscore:
    image: ros:noetic
    command: roscore
    environment:
      - "ROS_HOSTNAME=roscore"
    networks:
      - rosnetwork

  vive:
    build: ./
    privileged: true
    environment:
      - "NODE_NAME=vive"
      - "ROS_HOSTNAME=vive"
      - "ROS_MASTER_URI=http://roscore:11311"
    devices:
      - /dev/bus/usb:/dev/bus/usb:rwm
    volumes:
      - ~/.local/share/Steam/:/root/.steam/steam
    networks:
      - rosnetwork
    depends_on:
      - roscore
    restart: always

  bridge:
    image: ros:foxy-ros1-bridge
    environment:
      - "ROS_HOSTNAME=bridge"
      - "ROS_MASTER_URI=http://roscore:11311"
      - "RMW_IMPLEMENTATION=rmw_fastrtps_cpp"
      - "ROS_DISCOVERY_SERVER=discovery-server:11811"
    command: ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
    depends_on:
      - roscore
    networks:
      - rosnetwork

networks:
  rosnetwork: