docker-compose.yml

version: '3'

services:

  vnc: &vnc
    image: registry.gitlab.com/acrome-colab/riders-poc/f1tenth-riders-quickstart/vnc:latest
    build:
      context: .
      dockerfile: compose/vnc/Dockerfile
      args: 
        - PARENT=ros:noetic-robot-focal
        - ROS_DISTRO=noetic

  roscore: &roscore
    image: registry.gitlab.com/acrome-colab/riders-poc/f1tenth-riders-quickstart/roscore:latest
    build: 
      context: compose/roscore
      args: 
        - PARENT=registry.gitlab.com/acrome-colab/riders-poc/f1tenth-riders-quickstart/vnc:latest
  
  roscore-dev:
    <<: *roscore
    volumes: 
      - ./compose/roscore/start.sh:/start.sh
    stdin_open: true
    ports:
      # expose ROSCORE port to Out
      - 11311:11311

  bridge: &bridge
    image: registry.gitlab.com/acrome-colab/riders-poc/f1tenth-riders-quickstart/bridge:latest
    build:
      context: .
      dockerfile: compose/bridge/Dockerfile
      args: 
        - PARENT=registry.gitlab.com/acrome-colab/riders-poc/f1tenth-riders-quickstart/vnc:latest

  bridge-dev:
    <<: *bridge
    stdin_open: true
    ports:
      - 6080:6080
    volumes:
      - ./f1tenth_gym_ros:/catkin_ws/src/f1tenth_gym_ros
      - ./compose/bridge/f1tenth.rviz:/f1tenth.rviz
      - ./compose/bridge/start.sh:/start.sh
    environment:
      - PYTHONUNBUFFERED=1
      - ROS_MASTER_URI=http://host.docker.internal:11311
      - RACE_MAP_PATH=${RACE_MAP_PATH}
      - RACE_MAP_IMG_EXT=${RACE_MAP_IMG_EXT}
      # Scenario: 0 for single car timed trial (qualifying), 1 for dual car racing (grand prix)
      - RACE_SCENARIO=0
      - EGO_ID=${F1TENTH_AGENT_NAME}
      # Ignored if RACE_SCENARIO=0, used if RACE_SCENARIO=1
      - OPP_ID=${F1TENTH_OPP_NAME}

  #
  # DO NOT CHANGE THIS CODE
  # IF you want to update your agent, simply use Dockerfile
  #
  agent: &agent
    image: ${F1TENTH_AGENT_IMAGE}
    build:
      context: .
      dockerfile: compose/agent/Dockerfile
      args:
        - PARENT=registry.gitlab.com/acrome-colab/riders-poc/f1tenth-riders-quickstart/roscore:latest

  agent-dev:
    <<: *agent
    environment:
      - PYTHONUNBUFFERED=1
      - ROS_MASTER_URI=http://host.docker.internal:11311
      - F1TENTH_AGENT_NAME=${F1TENTH_AGENT_NAME}
    volumes:
      - ./pkg:/catkin_ws/src/pkg

#  opp-dev:
#    <<: *agent
#    environment:
#      - ROS_MASTER_URI=http://host.docker.internal:11311
#      - F1TENTH_AGENT_NAME=${F1TENTH_OPP_NAME}
#    volumes:
#      - ./pkg:/catkin_ws/src/pkg