erobs/docker/docker-compose.yml at humble · NSLS2/erobs · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
version: '3'

services:
  ursim:
    image: ursim:latest
    command: tail -f /dev/null
    ports:
      - 5900:5900
      - 6080:6080
    environment:
      - ROBOT_MODEL=UR3
    networks:
      ursim_net:
        ipv4_address: 192.168.56.101
    volumes:
      - ./ursim/programs:/ursim/programs

  urdriver:
    image: ur-driver:latest
    ports:
      - 50001:50001
      - 50002:50002
      - 50003:50003
      - 50004:50004
    environment:
      - ROBOT_IP=192.168.56.101
    networks:
      ursim_net:
        ipv4_address: 192.168.56.102
    depends_on:
      - ursim

  urmoveit:
    image: ur-moveit:latest
    ports:
      - 5901:5901
    environment:
      - ROBOT_IP=192.168.56.101
      - LAUNCH_RVIZ=true
    networks:
      ursim_net:
        ipv4_address: 192.168.56.103
    depends_on:
      - urdriver


  urexample:
    image: ur-example:latest
    environment:
      - ROBOT_IP=192.168.56.101
    networks:
      - ursim_net
    depends_on:
      - urdriver

networks:
  ursim_net:
    ipam:
      config:
        - subnet: 192.168.56.0/24

# Can be configured to use extrernal network as well
# https://stackoverflow.com/questions/46461977/docker-compose-v3-static-ip