version: '2' services: ros-master: image: gramaziokohler/ros-base:19.11 container_name: ros-master ports: - "11311:11311" command: - roscore ros-bridge: image: gramaziokohler/ros-ur-planner:19.11 container_name: ros-bridge environment: - "ROS_HOSTNAME=ros-bridge" - "ROS_MASTER_URI=http://ros-master:11311" ports: - "9090:9090" depends_on: - ros-master command: - roslaunch - --wait - rosbridge_server - rosbridge_websocket.launch ros-fileserver: image: gramaziokohler/ros-ur-planner:19.11 container_name: ros-fileserver environment: - ROS_HOSTNAME=ros-fileserver - ROS_MASTER_URI=http://ros-master:11311 depends_on: - ros-master command: - roslaunch - --wait - file_server - file_server.launch ur-demo: image: gramaziokohler/ros-ur-planner:19.11 container_name: ur-demo environment: - ROS_HOSTNAME=ur-demo - ROS_MASTER_URI=http://ros-master:11311 - DISPLAY=gui:0.0 depends_on: - ros-master - gui command: - roslaunch - --wait - ur10_e_moveit_config - demo.launch gui: image: gramaziokohler/novnc:latest ports: - "8080:8080"