docker-compose-jetson-rs3-framos-production.yaml

# Copyright (c) 2020, 2021  Carnegie Mellon University, IBM Corporation, and others
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.

# configuration of real robot for 3 FRAMOS on a Jetson configuration
# services extend from docker-compose-jetson-rs3-framos.yaml

services:
  navigation:
    extends:
      file: docker-compose.yaml
      service: navigation
    environment:
      - CABOT_GAZEBO=0
      - CABOT_USE_SIM_TIME=0
      - CABOT_TOUCH_ENABLED=${CABOT_TOUCH_ENABLED:-true}

  gui:
    extends:
      file: docker-compose-common.yaml
      service: gui
    environment:
      - CABOT_GAZEBO=0
      - CABOT_USE_SIM_TIME=0

  driver:
    extends:
      file: docker-compose-common.yaml
      service: driver

  localization:
    extends:
      file: docker-compose-jetson-rs3-framos.yaml
      service: localization
    environment:
      - CABOT_GAZEBO=0
      - CABOT_PRESSURE_AVAILABLE=1

# people service only queue and tracking
  people-jetson-track:
    extends:
      file: docker-compose-jetson-rs3-framos.yaml
      service: people-jetson-track
    environment:
      - CABOT_GAZEBO=0

  people-jetson-rs1-framos-camera:
    extends:
      file: docker-compose-jetson-rs3-framos.yaml
      service: people-jetson-rs1-framos-camera
    environment:
      - CABOT_GAZEBO=0
      - CABOT_USE_REALSENSE=1
      - CABOT_REALSENSE_SERIAL=${CABOT_REALSENSE_SERIAL_1}
    cpuset: "11" # assume other processes don't use this cpu by isolcpus kernel option

  people-jetson-rs1-framos-detection:
    extends:
      file: docker-compose-jetson-rs3-framos.yaml
      service: people-jetson-rs1-framos-detection
    environment:
      - CABOT_GAZEBO=0
      - CABOT_REALSENSE_SERIAL=${CABOT_REALSENSE_SERIAL_1}

  people-jetson-rs2-framos-camera:
    extends:
      file: docker-compose-jetson-rs3-framos.yaml
      service: people-jetson-rs2-framos-camera
    environment:
      - CABOT_GAZEBO=0
      - CABOT_USE_REALSENSE=1
      - CABOT_REALSENSE_SERIAL=${CABOT_REALSENSE_SERIAL_2}
    cpuset: "11" # assume other processes don't use this cpu by isolcpus kernel option

  people-jetson-rs2-framos-detection:
    extends:
      file: docker-compose-jetson-rs3-framos.yaml
      service: people-jetson-rs2-framos-detection
    environment:
      - CABOT_GAZEBO=0
      - CABOT_REALSENSE_SERIAL=${CABOT_REALSENSE_SERIAL_2}

  people-jetson-rs3-framos-camera:
    extends:
      file: docker-compose-jetson-rs3-framos.yaml
      service: people-jetson-rs3-framos-camera
    environment:
      - CABOT_GAZEBO=0
      - CABOT_USE_REALSENSE=1
      - CABOT_REALSENSE_SERIAL=${CABOT_REALSENSE_SERIAL_3}
    cpuset: "11" # assume other processes don't use this cpu by isolcpus kernel option

  people-jetson-rs3-framos-detection:
    extends:
      file: docker-compose-jetson-rs3-framos.yaml
      service: people-jetson-rs3-framos-detection
    environment:
      - CABOT_GAZEBO=0
      - CABOT_REALSENSE_SERIAL=${CABOT_REALSENSE_SERIAL_3}

  ble_scan:
    extends:
      file: docker-compose-common.yaml
      service: ble_scan