docker-compose.yaml

version: "2.4"

services:
  ros2_bridge:
    #image: "asia-northeast1-docker.pkg.dev/kachaka-api/docker/kachaka-grpc-ros2-bridge:${TAG}"
    image: "kachaka-api:latest"
    network_mode: "host"
    ipc: "host"
    pid: "host"
    environment:
      - API_GRPC_BRIDGE_SERVER_URI
      - ROS_DOMAIN_ID
      - ROS_LOCALHOST_ONLY
      - ROS_LOG_DIR=/tmp
      - RMW_IMPLEMENTATION
      - USER_ID
      - GROUP_ID
    user: "${USER_ID}:${GROUP_ID}"
    command: >
      ros2 launch kachaka_grpc_ros2_bridge grpc_ros2_bridge.launch.xml server_uri:=${API_GRPC_BRIDGE_SERVER_URI}
  kachaka_follow:
    image: "asia-northeast1-docker.pkg.dev/kachaka-api/docker/kachaka-grpc-ros2-bridge:${TAG}"
    network_mode: "host"
    ipc: "host"
    pid: "host"
    environment:
      - ROS_DOMAIN_ID
      - ROS_LOCALHOST_ONLY
      - ROS_LOG_DIR=/tmp
      - RMW_IMPLEMENTATION
      - USER_ID
      - GROUP_ID
    user: "${USER_ID}:${GROUP_ID}"
    command: >
      ros2 run kachaka_follow follow
  kachaka_speak:
    image: "asia-northeast1-docker.pkg.dev/kachaka-api/docker/kachaka-grpc-ros2-bridge:${TAG}"
    network_mode: "host"
    ipc: "host"
    pid: "host"
    environment:
      - ROS_DOMAIN_ID
      - ROS_LOCALHOST_ONLY
      - ROS_LOG_DIR=/tmp
      - RMW_IMPLEMENTATION
      - USER_ID
      - GROUP_ID
    user: "${USER_ID}:${GROUP_ID}"
    command: >
      ros2 run kachaka_speak speak
  kachaka_smart_speaker:
    image: "asia-northeast1-docker.pkg.dev/kachaka-api/docker/kachaka-grpc-ros2-bridge:${TAG}"
    network_mode: "host"
    ipc: "host"
    pid: "host"
    environment:
      - ROS_DOMAIN_ID
      - ROS_LOCALHOST_ONLY
      - ROS_LOG_DIR=/tmp
      - RMW_IMPLEMENTATION
      - USER_ID
      - GROUP_ID
    user: "${USER_ID}:${GROUP_ID}"
    command: >
      ros2 run kachaka_smart_speaker smart_speaker
  kachaka_vision:
    image: "asia-northeast1-docker.pkg.dev/kachaka-api/docker/kachaka-grpc-ros2-bridge:${TAG}"
    network_mode: "host"
    ipc: "host"
    pid: "host"
    environment:
      - ROS_DOMAIN_ID
      - ROS_LOCALHOST_ONLY
      - ROS_LOG_DIR=/tmp
      - RMW_IMPLEMENTATION
      - USER_ID
      - GROUP_ID
    user: "${USER_ID}:${GROUP_ID}"
    command: >
      ros2 launch kachaka_vision hand_recognition_launch.py