Merge pull request #43 from PickNikRobotics/revert-34-merge-compose

Revert "Remove `docker-compose.yaml`"

docker-compose.yaml

@@ -0,0 +1,106 @@
+# Docker Compose file for user overlays of the MoveIt Pro images.
+
+services:
+  # Sets common properties for other services. Should not be instantiated directly.
+  base:
+    # Extend the installed MoveIt Pro docker compose file.
+    # Change this to match your environment, if MoveIt Pro was installed to a different location.
+    extends:
+      file: /opt/moveit_pro/docker-compose.yaml
+      service: base
+    image: moveit-pro-overlay
+    build:
+      context: .
+      target: user-overlay
+      args:
+        - USER_UID=${STUDIO_USER_UID:-1000}
+        - USER_GID=${STUDIO_USER_GID:-1000}
+        - USERNAME=${STUDIO_USERNAME:-studio-user}
+        - MOVEIT_STUDIO_BASE_IMAGE=picknikciuser/moveit-studio:${STUDIO_DOCKER_TAG:-main}
+
+  # Starts the MoveIt Pro Agent and the Bridge between the Agent and the Web UI
+  agent_bridge:
+    extends: base
+    privileged: true
+    # This service relies on cgroup_rules defined in base which allow the user to use the host's network video4linux and usb_device devices.
+    depends_on:
+      rest_api:
+        condition: service_healthy
+    volumes:
+      # Allow the user to run graphical programs from within the docker container.
+      - /tmp/.X11-unix:/tmp/.X11-unix:ro
+      # Allow access to host hardware e.g. RealSense cameras
+      - /dev:/dev
+    deploy:
+      restart_policy:
+        condition: any
+        delay: 2s
+    command: agent_bridge.app
+
+  # Starts the REST API for the Web UI.
+  rest_api:
+    extends: base
+    healthcheck:
+      test: "curl -f http://localhost:3200/objectives"
+      interval: 5s
+      timeout: 1m
+    command: rest_api.app
+
+  # Starts the robot drivers.
+  drivers:
+    extends: base
+    privileged: true
+    # Ensures the drivers container has RT priority
+    ulimits:
+      rtprio: 99
+    devices:
+      - "/dev/ttyUSB0:/dev/ttyUSB0"  # Allow access to the gripper.
+    command: robot.app
+
+  # Starts the web UI frontend.
+  web_ui:
+    image: picknikciuser/moveit-studio-frontend:${STUDIO_DOCKER_TAG:-main}
+    ports:
+      - "80:80"
+    network_mode: host
+
+  # Starts RViz for visualization.
+  rviz:
+    extends: base
+    profiles:
+      - rviz
+    command: bash -c "ros2 launch moveit_studio_agent developer_rviz.launch.py"
+
+  # Starts MoveIt Setup Assistant for creating MoveIt configurations.
+  setup_assistant:
+    extends: base
+    profiles:
+      - setup_assistant
+    command: bash -c "ros2 launch moveit_setup_assistant setup_assistant.launch.py"
+
+  # Developer specific configuration
+  dev:
+    extends: base
+    build:
+      target: user-overlay-dev
+    image: moveit-studio-overlay-dev
+    stdin_open: true
+    tty: true
+    privileged: true
+    volumes:
+      # Mount the source code, colcon generated artifacts, and ccache
+      - ./src/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/src:rw
+      - ./build/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/build:rw
+      - ./install/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/install:rw
+      - ./log/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/log:rw
+      - ./.ccache/:/home/${STUDIO_USERNAME:-studio-user}/.ccache:rw
+      - ${HOME}/.ros/log_moveit_pro:/home/${STUDIO_USERNAME:-studio-user}/.ros/log
+      # Allow access to host hardware e.g. RealSense cameras
+      - /dev:/dev
+    command: sleep infinity
+    # Making a separate profile prevents this service from being built when using `docker compose build`
+    # and launched when using `docker compose up`.
+    profiles: ["dev"]
+
+volumes:
+  ignition_resources: