robot_runtime/docker-compose.yaml at master · Chenpeel/robot_runtime · GitHub

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x-ros2-common-env: &ros2_common_env
  ROS_DOMAIN_ID: "0"
  ROS_LOCALHOST_ONLY: "0"
  PYTHONUNBUFFERED: "1"
  TZ: Asia/Shanghai

x-ros2-common: &ros2_common
  build:
    context: .
    dockerfile: Dockerfile
  # 自动适配当前主机架构（不指定 platform 让 Docker 自动检测）
  # platform: "linux/amd64"  # 如需强制指定架构，取消此行注释并设置目标架构
  privileged: true
  network_mode: host
  # 设备映射（串口和I2C）
  # 仅映射存在的设备（即使设备不存在也不会报错）
  devices:
    # USB串口（适用于所有平台）
    - /dev/ttyUSB0:/dev/ttyUSB0
    # 树莓派特定串口（在非树莓派平台不存在也不会报错）
    - /dev/ttyAMA0:/dev/ttyAMA0
    - /dev/ttyAMA1:/dev/ttyAMA1
    - /dev/ttyAMA2:/dev/ttyAMA2
    - /dev/ttyAMA3:/dev/ttyAMA3
    - /dev/ttyAMA4:/dev/ttyAMA4
    # I2C总线（适用于树莓派和具有I2C接口的系统）
    - /dev/i2c-1:/dev/i2c-1
  volumes:
    - ./src:/root/ros_ws/src:rw
    - ./build:/root/ros_ws/build:rw
    - ./install:/root/ros_ws/install:rw
    - ./log:/root/ros_ws/log:rw
    - ./scripts:/root/ros_ws/scripts:rw
  environment:
    <<: *ros2_common_env
  working_dir: /root/ros_ws
  stdin_open: true
  tty: true

services:
  # 手动调试容器（不会在 dev/production 默认启动）
  ros2_servo:
    <<: *ros2_common
    container_name: ros2_servo_control
    command: /bin/bash
    restart: unless-stopped
    profiles:
      - manual

  # 本地开发模式服务（启动脚本自动构建并启动系统）
  ros2_servo_dev:
    <<: *ros2_common
    container_name: ros2_dev
    # 开发环境默认只映射 USB 串口；如需树莓派板载串口可删除本覆盖配置
    devices:
      - /dev/ttyUSB0:/dev/ttyUSB0
    environment:
      <<: *ros2_common_env
      DEVELOPMENT_MODE: "1"
      LAUNCH_DEBUG: "true"
      LAUNCH_IMU_DEBUG: "false"
      LAUNCH_MANUAL_PROTOCOL_MAP_FILE: "/root/ros_ws/src/websocket/config/manual_protocol_map.json"
    command: bash /root/ros_ws/scripts/init.sh
    restart: unless-stopped
    profiles:
      - dev

  # 生产模式服务
  ros2_servo_prod:
    <<: *ros2_common
    container_name: ros2
    environment:
      <<: *ros2_common_env
      LAUNCH_MANUAL_PROTOCOL_MAP_FILE: "/root/ros_ws/src/websocket/config/manual_protocol_map.json"
    command: bash /root/ros_ws/scripts/init.sh
    restart: always
    healthcheck:
      test: ["CMD", "ros2", "node", "list"]
      interval: 30s
      timeout: 10s
      retries: 3
      start_period: 120s
    profiles:
      - production