docker-compose.yml

version: '2'
services:
    rrc-driver:
        image: gramaziokohler/ros-noetic-dfab:22.12
        container_name: rrc-driver
        environment:
            - ROS_HOSTNAME=rrc-driver
            - ROS_MASTER_URI=http://ros-core:11311
        depends_on:
            - ros-core
        command:
            - roslaunch
            - --wait
            - compas_rrc_driver
            - bringup.launch
            # We define which robot to connect to with the robot_ip parameter
            # If we comment out the first line, we are connecting to our own computer, ie. to a RobotStudio simulated robot
            # If we comment out the second line, we are connecting to a robot with an IP address other than our own, ie. a real one.
            #   The default IP address of all ABB robots (using what is called as "service port") is 192.168.125.1
            - robot_ip:=host.docker.internal
            # - robot_ip:=192.168.125.1
            - robot_streaming_port:=30101
            - robot_state_port:=30201
            - namespace:=rob1

    moveit-service:
        image: gramaziokohler/ros-noetic-dfab:22.12
        container_name: moveit-service
        environment:
            - ROS_HOSTNAME=moveit-service
            - ROS_MASTER_URI=http://ros-core:11311
            # GUI: To forward the GUI to an external X11 server (eg. XMing), uncomment the following line
            # - DISPLAY=host.docker.internal:0.0
        depends_on:
            - ros-core
        command:
            - roslaunch
            - --wait
            - abb_crb15000_5_95_moveit_config
            - demo.launch
            # To launch the RVIZ GUI, change the following to true
            - use_rviz:=false
            - pipeline:=ompl

    ros-core:
        image: gramaziokohler/ros-noetic-dfab:22.12
        container_name: ros-core
        ports:
            - "11311:11311"
        command:
            - roscore

    ros-bridge:
        image: gramaziokohler/ros-noetic-dfab:22.12
        container_name: ros-bridge
        environment:
            - "ROS_HOSTNAME=ros-bridge"
            - "ROS_MASTER_URI=http://ros-core:11311"
        ports:
            - "9090:9090"
        depends_on:
            - ros-core
        command:
            - roslaunch
            - --wait
            - rosbridge_server
            - rosbridge_websocket.launch

    ros-fileserver:
        image: gramaziokohler/ros-noetic-dfab:22.12
        container_name: ros-fileserver
        environment:
            - ROS_HOSTNAME=ros-fileserver
            - ROS_MASTER_URI=http://ros-core:11311
        depends_on:
            - ros-core
        command:
            - roslaunch
            - --wait
            - file_server
            - file_server.launch