fix docker compose files to build rtk_gnss service by multi platform …

…image DCO 1.1 Signed-off-by: Tatsuya Ishihara <[email protected]>
CMU-cabot · Dec 18, 2024 · 00fbee9 · 00fbee9
1 parent 83f224e
commit 00fbee9
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Showing 2 changed files with 61 additions and 31 deletions.
diff --git a/docker-compose-common.yaml b/docker-compose-common.yaml
@@ -229,6 +229,45 @@ services:
       - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
       - ./docker/home/.ros:/home/developer/.ros
 
+  rtk_gnss-dev-base:
+    extends:
+      file: cabot-navigation/docker-compose-common.yaml
+      service: localization-dev-base
+    environment:
+      # rtklib
+      RTK_STR_IN: ${RTK_STR_IN}
+      CABOT_SITE: ${CABOT_SITE} # if RTK_STR_IN is not specified, RTK_STR_IN will be loaded from CABOT_SITE
+      BAUD_UBLOX: ${BAUD_UBLOX:-230400}
+    tty: true
+    stdin_open: true
+    command: /launch_rtklib.sh
+
+  rtk_gnss-prod-base:
+    extends:
+      file: cabot-navigation/docker-compose-common.yaml
+      service: localization-prod-base
+    environment:
+      # rtklib
+      RTK_STR_IN: ${RTK_STR_IN}
+      CABOT_SITE: ${CABOT_SITE} # if RTK_STR_IN is not specified, RTK_STR_IN will be loaded from CABOT_SITE
+      BAUD_UBLOX: ${BAUD_UBLOX:-230400}
+    tty: true
+    stdin_open: true
+    command: /launch_rtklib.sh
+
+  rtk_gnss-dev:
+    extends:
+      service: rtk_gnss-dev-base
+    volumes:
+      - ./docker/home:/home/developer
+
+  rtk_gnss-prod:
+    extends:
+      service: rtk_gnss-prod-base
+    volumes:
+      - ./docker/home/cyclonedds_spdp.xml:/home/developer/cyclonedds_spdp.xml
+      - ./docker/home/.ros:/home/developer/.ros
+
   bag:
     image: cmucal/cabot-bag
     build:

diff --git a/docker-compose-gnss.yaml b/docker-compose-gnss.yaml
@@ -19,35 +19,26 @@
 # SOFTWARE.
 
 services:
+  # build
   rtk_gnss:
-    build:
-      context: ./cabot-navigation/docker/localization
-    environment:
-      NTRIP_CLIENT: ${NTRIP_CLIENT}
-      NTRIP_CLIENT_START_AT_LAUNCH: ${NTRIP_CLIENT_START_AT_LAUNCH:-0}
-      GNSS_NODE_START_AT_LAUNCH: ${GNSS_NODE_START_AT_LAUNCH:-1}
-      # rtklib
-      RTK_STR_IN: ${RTK_STR_IN}
-      CABOT_SITE: ${CABOT_SITE} # if RTK_STR_IN is not specified, RTK_STR_IN will be loaded from CABOT_SITE
-      BAUD_UBLOX: ${BAUD_UBLOX:-230400}
-      # ntrip_client
-      NTRIP_HOST: ${NTRIP_HOST}
-      NTRIP_PORT: ${NTRIP_PORT:-2101}
-      NTRIP_MOUNTPOINT: ${NTRIP_MOUNTPOINT}
-      NTRIP_AUTHENTIFICATE: ${NTRIP_AUTHENTIFICATE}
-      NTRIP_USERNAME: ${NTRIP_USERNAME}
-      NTRIP_PASSWORD: ${NTRIP_PASSWORD}
-      NTRIP_STR2STR_RELAY_BACK: ${NTRIP_STR2STR_RELAY_BACK:-0}
-    volumes:
-      - /dev:/dev
-      - /sys/devices:/sys/devices
-      - ./docker/home:/home/developer
-      - ./cabot-navigation/cabot_sites:/home/developer/loc_ws/src/cabot_sites
-      # volumes to launch str2str.launch.py
-      - ./cabot-navigation/cabot-common/cabot_common:/home/developer/loc_ws/src/cabot_common
-      - ./cabot-navigation/mf_localization:/home/developer/loc_ws/src/mf_localization
-    privileged: true
-    network_mode: host
-    tty: true
-    stdin_open: true
-    command: /launch_rtklib.sh
+    extends:
+      file: docker-compose-common.yaml
+      service: rtk_gnss-dev
+    profiles:
+      - build
+
+  # dev
+  rtk_gnss-dev:
+    extends:
+      file: docker-compose-common.yaml
+      service: rtk_gnss-dev
+    profiles:
+      - dev
+
+  # prodimg
+  rtk_gnss-prod:
+    extends:
+      file: docker-compose-common.yaml
+      service: rtk_gnss-prod
+    profiles:
+      - prod