docker-compose.yml

version: '3'
# version de docker-compose utilise

# urls:
# - https://docs.docker.com/compose/compose-file/#volume-configuration-reference
# - https://www.linux.com/learn/docker-volumes-and-networks-compose

services:

  ros_master:
    image: ros:indigo-ros-core

    container_name: rosnode_master
    hostname: rosmaster

    ports:
      - "11311:11311"
    command:
        - roscore

  # Definition du ROS Node pour l'Arduino
  ros_li3ds_arduino:
    container_name: rosnode_li3ds_arduino
    hostname: ros_li3ds_arduino

    image: li3ds/arduino:latest

    devices:
      - "/dev/ttyACM0:/dev/ttyACM0"

    depends_on:
      - "ros_master"

    environment:
      - "ROS_HOSTNAME=ros_li3ds_arduino"
      - "ROS_MASTER_URI=http://ros_master:11311"

    command: rosrun rosserial_python serial_node.py /dev/ttyACM0 _baud:=115200

  ros_li3ds_ins:
    container_name: rosnode_li3ds_ins
    hostname: ros_li3ds_ins

    image: li3ds/ins:latest

    #devices:
    #  - "/dev/ttyUSB0:/dev/ttyUSB0"
    #
    privileged: true
    volumes:
      - "/dev/bus/usb:/dev/bus/usb"

    depends_on:
      - "ros_master"

    environment:
      - "ROS_HOSTNAME=rosnode_li3ds_ins"
      - "ROS_MASTER_URI=http://ros_master:11311"
    
    volumes:
      - li3ds_catkin_ws:/catkin_ws

    command: /root/run.sh

  ros_li3ds_laser:
    container_name: rosnode_li3ds_laser
    hostname: ros_li3ds_laser

    image: li3ds/laser:latest

    depends_on:
      - "ros_master"

    ports:
      - "2368:2368/udp"   # Data Port VLP-16 (by default)
      - "8308:8308/udp"   # Telemetry Port VLP-16 (by default)

    environment:
      - "ROS_HOSTNAME=rosnode_li3ds_laser"
      - "ROS_MASTER_URI=http://ros_master:11311"
    
    volumes:
      - li3ds_catkin_ws:/catkin_ws

    command: /root/run.sh


# url: https://docs.docker.com/compose/compose-file/
# -> external
volumes:
  li3ds_catkin_ws:
    external: true