From 2b72a65d1999b68108363b36fca171e67e8ea67e Mon Sep 17 00:00:00 2001
From: zcemycl <lyc010197@gmail.com>
Date: Fri, 9 Aug 2024 22:11:09 +0100
Subject: [PATCH] adding ros simulation in docker

---
 .../{ros => ros-simulation}/Dockerfile.old    |  5 +++
 .../docker/ros-simulation/README.md           |  9 ++++++
 .../docker/ros-simulation/docker-compose.yml  | 32 +++++++++++++++++++
 .../docker/ros-simulation/run_gazebo.sh       |  5 +++
 4 files changed, 51 insertions(+)
 rename src/containers/docker/{ros => ros-simulation}/Dockerfile.old (88%)
 create mode 100644 src/containers/docker/ros-simulation/README.md
 create mode 100644 src/containers/docker/ros-simulation/docker-compose.yml
 create mode 100644 src/containers/docker/ros-simulation/run_gazebo.sh

diff --git a/src/containers/docker/ros/Dockerfile.old b/src/containers/docker/ros-simulation/Dockerfile.old
similarity index 88%
rename from src/containers/docker/ros/Dockerfile.old
rename to src/containers/docker/ros-simulation/Dockerfile.old
index 160320a..6d6b786 100644
--- a/src/containers/docker/ros/Dockerfile.old
+++ b/src/containers/docker/ros-simulation/Dockerfile.old
@@ -16,4 +16,9 @@ RUN echo "source /catkin_ws/devel/setup.bash" > ~/.bashrc
 RUN pip install rospkg
 RUN /bin/bash -c 'source /opt/ros/noetic/setup.bash; \
     cd /catkin_ws/; catkin_make; source /catkin_ws/devel/setup.bash'
+# WORKDIR /opt/ros/noetic
+# RUN . setup.bash
+# WORKDIR /catkin_ws
+# RUN catkin_make
 WORKDIR /
+COPY ./run_gazebo.sh /run_gazebo.sh
diff --git a/src/containers/docker/ros-simulation/README.md b/src/containers/docker/ros-simulation/README.md
new file mode 100644
index 0000000..4d65c38
--- /dev/null
+++ b/src/containers/docker/ros-simulation/README.md
@@ -0,0 +1,9 @@
+## How to run?
+1. Install this for remote visualisation from docker.
+    ```
+    https://sourceforge.net/projects/vcxsrv/
+    ```
+2. Run docker compose
+    ```
+    docker compose up
+    ```
diff --git a/src/containers/docker/ros-simulation/docker-compose.yml b/src/containers/docker/ros-simulation/docker-compose.yml
new file mode 100644
index 0000000..baaff99
--- /dev/null
+++ b/src/containers/docker/ros-simulation/docker-compose.yml
@@ -0,0 +1,32 @@
+networks:
+  rosnet:
+    name: rosnet
+    driver: bridge
+services:
+  roscore:
+    build:
+      context: .
+      dockerfile: Dockerfile.old
+    networks:
+      - rosnet
+    command: roscore -p 11311
+    ports:
+      - 11311:11311
+  gazebo:
+    build:
+      context: .
+      dockerfile: Dockerfile.old
+    networks:
+      - rosnet
+    command: /run_gazebo.sh
+    environment:
+      - ROS_MASTER_URI=http://roscore:11311/
+      - DISPLAY=host.docker.internal:0.0
+    deploy:
+      restart_policy:
+        condition: on-failure
+        delay: 5s
+        max_attempts: 5
+        window: 10s
+    depends_on:
+      - roscore
diff --git a/src/containers/docker/ros-simulation/run_gazebo.sh b/src/containers/docker/ros-simulation/run_gazebo.sh
new file mode 100644
index 0000000..57c6e24
--- /dev/null
+++ b/src/containers/docker/ros-simulation/run_gazebo.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+export TURTLEBOT3_MODEL=burger
+source /opt/ros/noetic/setup.bash
+source /catkin_ws/devel/setup.bash
+roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch