docker-compose.yml

version: '3'
services:
  ros-master:
    image: gramaziokohler/robotic-assembly:workshop-19.01
    container_name: ros-master
    ports:
      - "11311:11311"
    command:
      - roscore

  ros-bridge:
    image: gramaziokohler/robotic-assembly:workshop-19.01
    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/robotic-assembly:workshop-19.01
    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

  abb-driver:
    image: gramaziokohler/robotic-assembly:workshop-19.01
    container_name: abb-driver
    environment:
      - ROS_HOSTNAME=abb-driver
      - ROS_MASTER_URI=http://ros-master:11311
    depends_on:
      - ros-master
    command:
      - roslaunch
      - --wait
      - abb_linear_axis
      - robot_interface_download.launch
      - robot_ip:=${ROBOT_IP}

  abb-tf-world-base_link:
    image: gramaziokohler/robotic-assembly:workshop-19.01
    container_name: abb-tf-world-base_link
    environment:
      - ROS_HOSTNAME=abb-tf-world-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'

  abb-tf-world-axis:
    image: gramaziokohler/robotic-assembly:workshop-19.01
    container_name: abb-tf-world-axis
    environment:
      - ROS_HOSTNAME=abb-tf-world-axis
      - 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
      - axis
      - '100'

  abb-linear-axis-planner:
    image: gramaziokohler/robotic-assembly:workshop-19.01
    container_name: abb-linear-axis-planner
    environment:
      - ROS_HOSTNAME=abb-linear-axis-planner
      - ROS_MASTER_URI=http://ros-master:11311
    depends_on:
      - ros-master
    command:
      - roslaunch
      - --wait
      - abb_linear_axis_brick_moveit_config
      - workshop.launch