version: '2' services: moveit-demo: image: gramaziokohler/ros-noetic-moveit container_name: moveit-demo environment: - ROS_HOSTNAME=moveit-demo - ROS_MASTER_URI=http://ros-core:11311 # GUI Option 1: To forward the GUI to an external X11 server (eg. XMing), uncomment the following line # - DISPLAY=host.docker.internal:0.0 # GUI Option 2: To use the web-based GUI, uncomment the following line # - DISPLAY=gui:0.0 depends_on: - ros-core # To use the web-based GUI, uncomment the following line # - gui command: - roslaunch - --wait # To change the robot, select the corresponding package name here, eg. `ur10e_moveit_config` - abb_irb4600_40_255_moveit_config - demo.launch # To launch the RVIZ GUI, change the following to true and activate one of the two GUI options above - use_rviz:=false ros-core: image: gramaziokohler/ros-noetic-moveit container_name: ros-core ports: - "11311:11311" command: - roscore ros-bridge: image: gramaziokohler/ros-noetic-moveit container_name: ros-bridge environment: - "ROS_HOSTNAME=ros-bridge" - "ROS_MASTER_URI=http://ros-core:11311" ports: - "9090:9090" depends_on: - ros-core command: - roslaunch - --wait - rosbridge_server - rosbridge_websocket.launch ros-fileserver: image: gramaziokohler/ros-noetic-moveit container_name: ros-fileserver environment: - ROS_HOSTNAME=ros-fileserver - ROS_MASTER_URI=http://ros-core:11311 depends_on: - ros-core command: - roslaunch - --wait - file_server - file_server.launch # To use the web-based GUI, uncomment the following lines # gui: # image: gramaziokohler/novnc:latest # ports: # - "8080:8080"