docker-compose.yml

version: "3.6"

services:

  cyton-gamma: &cyton-gamma
    image: ${DOCKER_IMAGE}:${VERSION}
    build:
      context: .
      dockerfile: Dockerfile
      target: cyton-gamma-300
    volumes:
      - ./src/:/catkin_ws/src/
      - /dev:/dev
      - /var/run/dbus/:/var/run/dbus
      - /run/udev:/run/udev:ro
      - /tmp/.X11-unix:/tmp/.X11-unix
    env_file:
      - .env
    working_dir: /catkin_ws
    ipc: host
    network_mode: host
    privileged: true
    environment:
      - RUNS_INSIDE_DOCKER=1
      - DISPLAY=$DISPLAY
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all

  cyton-gamma-shell:
    <<: *cyton-gamma
    command: >
      bash /ros_entrypoint.sh && source /catkin_ws/devel/setup.bash

  cyton-gamma-urdf-in-rviz:
    <<: *cyton-gamma
    command: >
      bash -c "source /catkin_ws/devel/setup.bash &&
               roslaunch cyton_gamma_300_description urdf_in_rviz.launch"

  cyton-gamma-urdf-in-gazebo:
    <<: *cyton-gamma
    command: >
      bash -c "source /catkin_ws/devel/setup.bash &&
               roslaunch cyton_gamma_300_gazebo gazebo_world.launch"

  cyton-gamma-joint-effort-controller:
    <<: *cyton-gamma
    command: >
      bash -c "source /catkin_ws/devel/setup.bash &&
               roslaunch cyton_gamma_300_controllers gazebo_effort_controllers.launch"

  cyton-gamma-joint-position-controller:
    <<: *cyton-gamma
    command: >
      bash -c "source /catkin_ws/devel/setup.bash &&
               roslaunch cyton_gamma_300_controllers gazebo_position_controllers.launch"

  cyton-gamma-joint-trajectory-controller:
    <<: *cyton-gamma
    command: >
      bash -c "source /catkin_ws/devel/setup.bash &&
               roslaunch cyton_gamma_300_controllers gazebo_joint_trajectory_controllers.launch"

  cyton-gamma-gazebo-moveit:
    <<: *cyton-gamma
    command: >
      bash -c "source /catkin_ws/devel/setup.bash &&
               roslaunch cyton_gamma_300_controllers gazebo_moveit.launch"

  cyton-gamma-robot-manipulator-manager:
    <<: *cyton-gamma
    command: >
      bash -c "source /catkin_ws/devel/setup.bash &&
               roslaunch cyton_gamma_300_controllers robot_manipulator_manager.launch"

  cyton-gamma-robot-manipulator-controller-spawner:
    <<: *cyton-gamma
    command: >
      bash -c "source /catkin_ws/devel/setup.bash &&
               roslaunch cyton_gamma_300_controllers robot_manipulator_controller_spawner.launch"

  cyton-gamma-robot-gripper-manager:
    <<: *cyton-gamma
    command: >
      bash -c "source /catkin_ws/devel/setup.bash &&
               roslaunch cyton_gamma_300_controllers robot_gripper_manager.launch"

  cyton-gamma-robot-gripper-controller-spawner:
    <<: *cyton-gamma
    command: >
      bash -c "source /catkin_ws/devel/setup.bash &&
               roslaunch cyton_gamma_300_controllers robot_gripper_controller_spawner.launch"

  cyton-gamma-robot-moveit-movegroup:
    <<: *cyton-gamma
    command: >
      bash -c "source /catkin_ws/devel/setup.bash &&
               roslaunch cyton_gamma_300_controllers robot_moveit_movegroup.launch"

  cyton-gamma-robot-moveit:
    <<: *cyton-gamma
    command: >
      bash -c "source /catkin_ws/devel/setup.bash &&
               roslaunch cyton_gamma_300_controllers robot_moveit.launch"

  cyton-gamma-robot-joint-trajectory-controller:
    <<: *cyton-gamma
    command: >
      bash -c "source /catkin_ws/devel/setup.bash &&
               roslaunch cyton_gamma_300_controllers robot_joint_trajectory_controller.launch"

  cyton-gamma-moveit-setup-assistant:
    <<: *cyton-gamma
    command: >
      bash -c "source /catkin_ws/devel/setup.bash &&
               roslaunch moveit_setup_assistant setup_assistant.launch"