xs
58 lines
1.5 KiB
YAML
58 lines
1.5 KiB
YAML
# docker-compose.yml - ROS2 开发容器编排
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#
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# 关键改动(vs 原版):
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# 1. 加 `name: ros2` —— 独立 compose project,脱离默认 `docker` 分组
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# 2. 用 `networks: ros2_net`(自定义 bridge)替代 host network
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# - 便于跨机器部署时统一 IP 段
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# - 与系统 docker_default 隔离,不让 ROS 节点被无关容器发现
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#
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# 使用:
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# docker compose -p ros2 -f docker/docker-compose.yml build
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# docker compose -p ros2 -f docker/docker-compose.yml up -d
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# docker compose -p ros2 -f docker/docker-compose.yml down
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name: ros2
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services:
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ros2:
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# build: 同目录 Dockerfile
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build: .
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image: ros2-humble-dev:latest
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container_name: ros2_dev
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# 特权模式(便于系统工具调试)
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privileged: true
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stdin_open: true
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tty: true
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# 用自定义网络(脱离 docker_default)
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networks:
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ros2_net:
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ipv4_address: 172.20.0.10 # 固定 IP,便于 ROS_STATIC_PEERS
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environment:
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# ROS Domain ID(0-232,默认 0)
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- ROS_DOMAIN_ID=0
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# 用 FastDDS 默认(留空)
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# - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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# 容器内 PATH 自动 source ROS2
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- RCUTILS_COLORIZED_OUTPUT=1
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# bind mount:整个工程挂到 /root/ros2_ws
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volumes:
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- ..:/root/ros2_ws
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working_dir: /root/ros2_ws
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# 容器长跑(用户 exec 进去)
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command: ["bash", "-lc", "tail -f /dev/null"]
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# 自定义网络(脱离 docker_default)
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networks:
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ros2_net:
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driver: bridge
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ipam:
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config:
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- subnet: 172.20.0.0/24
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gateway: 172.20.0.1 |