version: '2' services: ros-master: image: gramaziokohler/ros-base:20.11 container_name: ros-master ports: - "11311:11311" command: - roscore ros-bridge: image: gramaziokohler/ros-ur-planner:20.11 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:20.11 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-tf-base_link: image: gramaziokohler/ros-ur-planner:20.11 container_name: ur-tf-base_link environment: - ROS_HOSTNAME=ur-tf-base_link - ROS_MASTER_URI=http://ros-master:11311 depends_on: - ros-master command: - rosrun - tf - static_transform_publisher - '0' - '0' - '0' - '0' - '0' - '0' - '1' - world - base_link - '100' ur-description: image: gramaziokohler/ros-ur-planner:20.11 container_name: ur-description environment: - ROS_HOSTNAME=ur-description - ROS_MASTER_URI=http://ros-master:11311 depends_on: - ros-master command: - roslaunch - --wait - ur10_moveit_config - planning_context.launch - load_robot_description:=true ur-planner: image: gramaziokohler/ros-ur-planner:20.11 container_name: ur-planner environment: - ROS_HOSTNAME=ur-planner - ROS_MASTER_URI=http://ros-master:11311 depends_on: - ros-master command: - roslaunch - --wait - ur10_moveit_config - ur10_moveit_planning_execution.launch - sim:=true