update ros simulation

src/containers/docker/ros-simulation/Dockerfile.old

@@ -1,8 +1,19 @@
 FROM osrf/ros:noetic-desktop-full
+
+ENV NVIDIA_VISIBLE_DEVICES \
+    ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES \
+    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
+
 RUN apt-get update -y && apt-get upgrade -y
 RUN apt-get install wget git python3-pip python3-catkin-tools -y
 RUN apt-get install ros-noetic-joy ros-noetic-control-toolbox \
     ros-noetic-robot-controllers ros-noetic-gazebo-ros \
+    ros-noetic-gmapping ros-noetic-robot-state-publisher \
+    ros-noetic-rviz ros-noetic-gazebo-ros-control \
+    ros-noetic-gazebo-ros-pkgs \
+    # ros-noetic-ignition-math6-vendor \
+    # ignition ignition-launch-cli ignition-tools \
     ros-noetic-gazebo-plugins ros-noetic-rgbd-launch -y
 WORKDIR /
 RUN mkdir -p catkin_ws/src/
@@ -21,4 +32,4 @@ RUN /bin/bash -c 'source /opt/ros/noetic/setup.bash; \
 # WORKDIR /catkin_ws
 # RUN catkin_make
 WORKDIR /
-COPY ./run_gazebo.sh /run_gazebo.sh
+COPY ./run_gazebo.sh ./run_rviz.sh ./run_algo.sh /

src/containers/docker/ros-simulation/docker-compose.yml

@@ -1,32 +1,56 @@
+x-ros-common: &ros_common
+  build:
+    context: .
+    dockerfile: Dockerfile.old
+  networks:
+    - rosnet
+  volumes:
+    - /tmp/.X11-unix:/tmp/.X11-unix:rw
+  environment:
+    - ROS_MASTER_URI=http://roscore:11311/
+    - DISPLAY=host.docker.internal:0.0
+    - QT_X11_NO_MITSHM=1
+  # runtime: nvidia
+  deploy:
+    restart_policy:
+      condition: on-failure
+      delay: 5s
+      max_attempts: 5
+      window: 10s
+    # resources:
+    #   reservations:
+    #     devices:
+    #       - driver: nvidia
+    #         count: 1
+    #         capabilities: [gpu]
 networks:
   rosnet:
     name: rosnet
     driver: bridge
 services:
   roscore:
-    build:
-      context: .
-      dockerfile: Dockerfile.old
-    networks:
-      - rosnet
+    <<: *ros_common
     command: roscore -p 11311
+    container_name: roscore
     ports:
       - 11311:11311
-  gazebo:
-    build:
-      context: .
-      dockerfile: Dockerfile.old
-    networks:
-      - rosnet
+  ros-simulation:
+    <<: *ros_common
     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
+    container_name: ros-simulation
     depends_on:
       - roscore
+  ros-algo:
+    <<: *ros_common
+    command: /run_algo.sh
+    container_name: ros-algo
+    depends_on:
+      - roscore
+      - ros-simulation
+  ros-rviz:
+    <<: *ros_common
+    command: /run_rviz.sh
+    container_name: ros-rviz
+    depends_on:
+      - roscore
+      - ros-simulation

src/containers/docker/ros-simulation/run_algo.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_simulation.launch

src/containers/docker/ros-simulation/run_gazebo.sh

@@ -2,4 +2,4 @@
 export TURTLEBOT3_MODEL=burger
 source /opt/ros/noetic/setup.bash
 source /catkin_ws/devel/setup.bash
-roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch
+roslaunch turtlebot3_gazebo turtlebot3_house.launch

src/containers/docker/ros-simulation/run_rviz.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_slam turtlebot3_slam.launch slam_methods:=gmapping