compose.cyclone.yaml

version: "3"
networks:
  ros-network:
    external: false
    driver: "bridge"
    ipam:
      config:
        - subnet: "172.18.0.0/24"
          ip_range: "172.18.0.64/26"
          gateway: "172.18.0.1"

services:
  RouDi:
    image: iceoryx:introspection
    build:
      context: .
      dockerfile: Dockerfile_iox_introspection
      args:
        DOCKER_USER: ${USER}
        BASE_IMAGE: ghcr.io/ipa-rwu/iceoryx:v2.0.3
    networks:
      ros-network:
        priority: 999
        ipv4_address: 172.18.0.2
    user: 1000:1000
    volumes:
      - ./iox_config.toml:/iox_config.toml
      - /dev:/dev
      - /tmp:/tmp
    stdin_open: true
    tty: true
    command:
      - /usr/bin/iox-roudi -c /iox_config.toml -l debug

  talker:
    image: communication_test_nodes_humble:user
    build:
      context: .
      dockerfile: Dockerfile_USER
      args:
        DOCKER_USER: ${USER}
        BASE_IMAGE: ghcr.io/ipa-rwu/communication_test_nodes_humble:latest
    pid: "service:RouDi"
    networks:
      ros-network:
        priority: 999
        ipv4_address: 172.18.0.3
    environment:
      - NETINTERFACE=eth0
      - ROS_DOMAIN_ID=42
      - ROS_SECURITY_ENABLE=false
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - CYCLONEDDS_URI=/cyclonedds.xml
    user: 1000:1000
    volumes:
      - ./cyclonedds.xml:/cyclonedds.xml
      - /dev:/dev
      - /tmp:/tmp
    stdin_open: true
    tty: true
    command:
      - bash
      - -c
      - |
        ros2 run demo_nodes_cpp talker

  listener:
    image: communication_test_nodes_humble:user
    build:
      context: .
      dockerfile: Dockerfile_USER
      args:
        DOCKER_USER: ${USER}
        BASE_IMAGE: ghcr.io/ipa-rwu/communication_test_nodes_humble:latest
    networks:
      ros-network:
        priority: 999
        ipv4_address: 172.18.0.4
    pid: "service:RouDi"
    environment:
      - NETINTERFACE=eth0
      - ROS_DOMAIN_ID=42
      - ROS_SECURITY_ENABLE=false
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - CYCLONEDDS_URI=/cyclonedds.xml
    user: 1000:1000
    volumes:
      - ./cyclonedds.xml:/cyclonedds.xml
      - /dev:/dev
      - /tmp:/tmp
    stdin_open: true
    tty: true
    command:
      - bash
      - -c
      - |
        ros2 run demo_nodes_cpp listener

  iox-introspection:
    image: iceoryx:introspection
    build:
      context: .
      dockerfile: Dockerfile_iox_introspection
      args:
        DOCKER_USER: ${USER}
        BASE_IMAGE: ghcr.io/ipa-rwu/iceoryx:v2.0.3
    networks:
      ros-network:
        priority: 999
        ipv4_address: 172.18.0.5
    user: 1000:1000
    volumes:
      - ./iox_config.toml:/iox_config.toml
      - /dev:/dev
      - /tmp:/tmp
    stdin_open: true
    tty: true
    pid: "service:RouDi"
    command:
      - /bin/bash
      # iox-introspection-client --all