docker-compose-robot-sim.yml

---
version: '3'
networks:
  ros:
    driver: bridge

services:
  ros-master:
    image: osrf/ros:melodic-desktop-full
    networks:
      - ros
    command: [roscore]

  flo_sim:
    build:
      context: ./
      args:
        ROS_USER: $USER
        R_GID: $R_GID
        R_UID: $R_UID
    depends_on:
      - ros-master
    volumes:
      - $XSOCK:$XSOCK:rw
      - $XAUTH:$XAUTH:rw
      - ./certs/aws-credentials:/home/$USER/.aws/credentials
      - ./certs/aws-config:/home/$USER/.aws/config
      - /tmp/pulseaudio.socket:/tmp/pulseaudio.socket
      - ~/flo_db:/home/$USER/db:rw
      - ~/flo_games:/home/$USER/flo_games:rw
      - ./:/home/$USER/catkin_ws/src/FloSystem:ro
    user: $USER
    networks:
      - ros
    environment:
      - DISPLAY
      - ROS_MASTER_URI=http://ros-master:11311
      - ROS_HOSTNAME=flo_sim
      #- QT_X11_NO_MITSHM=1
      - XAUTHORITY=${XAUTH}
      - FLO_SERVER_IP=host.docker.internal
      - NODE_TLS_REJECT_UNAUTHORIZED=0
      - PULSE_SERVER=unix:/tmp/pulseaudio.socket
      - PULSE_COOKIE=/tmp/pulseaudio.cookie
    env_file:
      - ./certs/sim-info.env
    extra_hosts:
      - host.docker.internal:host-gateway
    command: [roslaunch --wait flo_core flo_sim.launch]
    # command: [rqt_bag]

  webrtc-router:
    build:
      context: ./flo_web/webrtc_robot_router/
    depends_on:
      - ros-master
      - flo_sim
    networks:
      - ros
    environment:
      - FLO_SERVER_IP=host.docker.internal
      - NODE_TLS_REJECT_UNAUTHORIZED=0
      - RTC_SERVER_ADDR=flo_sim
    env_file:
      - ./certs/sim-info.env
    extra_hosts:
      - host.docker.internal:host-gateway