docker-compose.yaml

version: "3.4"

services:
  mapserver:
    image: camptocamp/mapserver
    network_mode: host
    environment:
      - NAIP_GDOWN_ID=16M_kbsLpF3t87KC2n9YgqGEBA5h0lG7U
      - OSM_GDOWN_ID=1snGYjWxs71m6I-qxKsmUzch_bAfQtrEW
    volumes:
      - $PWD/docker/mapserver/mapfiles/mapserver.map:/etc/mapserver/mapserver.map:ro
      - $PWD/docker/mapserver/setup_mapserver.sh:/etc/mapserver/setup_mapserver.sh:ro
    entrypoint: /etc/mapserver/setup_mapserver.sh

  mapproxy:
    build:
      context: docker/mapproxy
      dockerfile: Dockerfile
    network_mode: host

  micro-ros-agent:
    image: microros/micro-ros-agent:foxy
    command: udp4 -p 8888
    network_mode: host
    volumes:
      - /dev/shm:/dev/shm

  mavros:
    build:
      context: docker/mavros
      dockerfile: Dockerfile
    environment:
      - FASTRTPS_DEFAULT_PROFILES_FILE=/disable_shared_memory.xml
    network_mode: host
    volumes:
      - /dev/shm:/dev/shm

  qgc:
    build:
      context: docker/qgc
      dockerfile: Dockerfile
    environment:
      - QT_X11_NO_MITSHM=1
      - DISPLAY=${DISPLAY}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:ro
      - /dev/shm:/dev/shm
      - /dev/dri:/dev/dri
    network_mode: host
    stdin_open: true
    tty: true

  gisnav:
    build:
      context: docker/gisnav
      dockerfile: Dockerfile
    environment:
      - QT_X11_NO_MITSHM=1
      - DISPLAY=${DISPLAY}
      - FASTRTPS_DEFAULT_PROFILES_FILE=/disable_shared_memory.xml
    volumes:
      - /dev/dri:/dev/dri
    network_mode: host
    stdin_open: true
    tty: true
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: 1
              capabilities: [ gpu ]
    command: >
      bash -c "source /opt/ros/foxy/setup.bash && source ~/colcon_ws/install/setup.bash &&
      export LD_PRELOAD=$(find $(pip3 show torch |grep Location:  |cut -d' ' -f 2)/torch/lib -name 'libgomp*') &&
      ros2 launch gisnav px4.launch.py"

  px4:
    build:
      context: docker/px4
      dockerfile: Dockerfile
    environment:
      - QT_X11_NO_MITSHM=1
      - DISPLAY=${DISPLAY}
      - GAZEBO_HEADLESS=${GAZEBO_HEADLESS}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:ro
      - /dev/shm:/dev/shm
      - /dev/dri:/dev/dri
    network_mode: host
    stdin_open: true
    tty: true
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: 1
              capabilities: [ gpu ]

  #ardupilot:
  #  build:
  #    context: https://github.com/ArduPilot/ardupilot.git
  #    dockerfile: https://raw.githubusercontent.com/ArduPilot/ardupilot/master/Dockerfile

  ardupilot:
    build:
      context: docker/ardupilot
      dockerfile: Dockerfile
    environment:
      - QT_X11_NO_MITSHM=1
      - DISPLAY=${DISPLAY}
      - GAZEBO_HEADLESS=${GAZEBO_HEADLESS}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:ro
      - /dev/shm:/dev/shm
      - /dev/dri:/dev/dri
    network_mode: host
    stdin_open: true
    tty: true
    #privileged: True
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: 1
              capabilities: [ gpu ]