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

  ur5-planner:
    image: gramaziokohler/robotic-assembly:workshop-19.01
    container_name: ur5-planner
    environment:
      # We redirect the container's GUI to a X11 server running on the host OS.
      # On Windows using XMing, make sure you add your IP Address to the file %ProgramFiles(x86)%\XMing\X0.hosts 
      # On *nix systems, run `xhost +local:root` (and disable later with `xhost -local:root`)
      # NOTE: the previous setting is a lazy and unsecure way of giving access to your X11 server
      # There are better, more elaborate ways of doing this with less risk
      # - DISPLAY=docker.for.mac.localhost:0.0   (swap this with the next one for Mac)
      - DISPLAY=docker.for.win.localhost:0.0
      - ROS_HOSTNAME=ur5-planner
      - ROS_MASTER_URI=http://ros-master:11311
      - QT_X11_NO_MITSHM=1
    privileged: true     # This might be needed in some systems
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
    depends_on:
      - ros-master
    command:
      - roslaunch
      - --wait
      - ur5_moveit_config
      - demo.launch
      - rviz_tutorial:=false