vive_controller/docker-compose.yml at main · hucebot/vive_controller · 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
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
# ── RULE: Common Environment Variables ─────────────────────────────────────
x-common-env: &common_env
  DISPLAY: ${DISPLAY}
  NVIDIA_DRIVER_CAPABILITIES: all
  XDG_RUNTIME_DIR: ${XDG_RUNTIME_DIR}
  QT_X11_NO_MITSHM: 1

# ── RULE: ROS Environment Variables ────────────────────────────────────────
x-ros-env: &ros_env
  ROS_DOMAIN_ID: ${ROS_DOMAIN_ID:-1}
  RMW_IMPLEMENTATION: rmw_cyclonedds_cpp

services:
  # ── bimanual: bimanual tracker (left + right) ─────────────────────────────
  bimanual_vive_tracker:
    profiles: [bimanual]
    container_name: ros2_bimanual_vive_tracker
    image: vive-controller-from-bleu-base-jazzy:2026.03am2_tracker_node
    build:
      context: .
      dockerfile: .ci/Dockerfile
      target: app
      args:
        STEAM_USER: ${STEAM_USER}
        STEAM_PASSWORD: ${STEAM_PASSWORD}
    network_mode: host
    ipc: host
    pid: host
    privileged: true
    environment:
      <<: [*common_env, *ros_env]
      HAND_OFFSET_LEFT: ${HAND_OFFSET_LEFT:-[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]}
      HAND_OFFSET_RIGHT: ${HAND_OFFSET_RIGHT:-[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
      - /dev:/dev
      - /run/udev:/run/udev
      - ./config/steamvr_config/openvrpaths.vrpath:/root/.config/openvr/openvrpaths.vrpath
      - ./config/steamvr_config/default_driver_null:/home/steam/Steam/steamapps/common/SteamVR/drivers/null/resources/settings/default.vrsettings
      - ./config/steamvr_config/default_resources:/home/steam/Steam/steamapps/common/SteamVR/resources/settings/default.vrsettings
      - ./ros2_vive_controller:/ros2_ws/src/ros2_vive_controller/ros2_vive_controller
      - ./launch:/ros2_ws/src/ros2_vive_controller/launch
      - ./config:/ros2_ws/src/ros2_vive_controller/config
      - ./rviz:/ros2_ws/src/ros2_vive_controller/rviz
      - ./assets:/ros2_ws/src/ros2_vive_controller/assets
      - ./setup.py:/ros2_ws/src/ros2_vive_controller/setup.py
      - ./.ci/entrypoint.vive3_0.sh:/entrypoint.sh
    working_dir: /ros2_ws
    entrypoint: ["/entrypoint.sh"]
    command: >
      ros2 run ros2_vive_controller bimanual_tracker_3_0_node --ros-args
      -p serial_left:=${SERIAL_LEFT:-}
      -p serial_right:=${SERIAL_RIGHT:-}
      -p reference_lighthouse_serial:=${REFERENCE_LIGHTHOUSE_SERIAL:-}
      -p hand_offset_left:="${HAND_OFFSET_LEFT:-[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]}"
      -p hand_offset_right:="${HAND_OFFSET_RIGHT:-[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]}"
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]

  # ── simple: single tracker ────────────────────────────────────────────────
  simple_vive_tracker:
    profiles: [simple]
    container_name: ros2_simple_vive_tracker
    image: vive-controller-from-bleu-base-jazzy:2026.03am2_tracker_node
    build:
      context: .
      dockerfile: .ci/Dockerfile
      target: app
      args:
        STEAM_USER: ${STEAM_USER}
        STEAM_PASSWORD: ${STEAM_PASSWORD}
    network_mode: host
    ipc: host
    pid: host
    privileged: true
    environment:
      <<: [*common_env, *ros_env]
      HAND_OFFSET: ${HAND_OFFSET:-[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
      - /dev:/dev
      - /run/udev:/run/udev
      - ./config/steamvr_config/openvrpaths.vrpath:/root/.config/openvr/openvrpaths.vrpath
      - ./config/steamvr_config/default_driver_null:/home/steam/Steam/steamapps/common/SteamVR/drivers/null/resources/settings/default.vrsettings
      - ./config/steamvr_config/default_resources:/home/steam/Steam/steamapps/common/SteamVR/resources/settings/default.vrsettings
      - ./ros2_vive_controller:/ros2_ws/src/ros2_vive_controller/ros2_vive_controller
      - ./launch:/ros2_ws/src/ros2_vive_controller/launch
      - ./config:/ros2_ws/src/ros2_vive_controller/config
      - ./rviz:/ros2_ws/src/ros2_vive_controller/rviz
      - ./assets:/ros2_ws/src/ros2_vive_controller/assets
      - ./setup.py:/ros2_ws/src/ros2_vive_controller/setup.py
      - ./.ci/entrypoint.vive3_0.sh:/entrypoint.sh
    working_dir: /ros2_ws
    entrypoint: ["/entrypoint.sh"]
    command: >
      ros2 run ros2_vive_controller tracker_3_0_node --ros-args
      -p name:=${TRACKER_NAME:-tracker}
      -p serial:=${SERIAL:-}
      -p reference_lighthouse_serial:=${REFERENCE_LIGHTHOUSE_SERIAL:-}
      -p hand_offset:="${HAND_OFFSET:-[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]}"
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]

  # ── COMMON BASE: for controllers ──────────────────────────────────────────
  base_robot: &base_robot
    image: ${REGISTRY:-registry.gitlab.inria.fr/eurobin-horizon/code/vive_controller_tiago}/vive-controller:${TAG:-latest}
    build:
      context: .
      dockerfile: .ci/Dockerfile
      target: app
      args:
        STEAM_USER: ${STEAM_USER}
        STEAM_PASSWORD: ${STEAM_PASSWORD}
    network_mode: host
    ipc: host
    pid: host
    privileged: true
    environment:
      <<: [*common_env, *ros_env]
      CYCLONEDDS_URI: file:///ros2_ws/src/ros2_vive_controller/config/cyclonedds.xml
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
      - /dev:/dev
      - /run/udev:/run/udev
      - ./config/steamvr_config/openvrpaths.vrpath:/root/.config/openvr/openvrpaths.vrpath
      - ./config/steamvr_config/default_driver_null:/home/steam/Steam/steamapps/common/SteamVR/drivers/null/resources/settings/default.vrsettings
      - ./config/steamvr_config/default_resources:/home/steam/Steam/steamapps/common/SteamVR/resources/settings/default.vrsettings
      - ./ros2_vive_controller:/ros2_ws/src/ros2_vive_controller/ros2_vive_controller
      - ./launch:/ros2_ws/src/ros2_vive_controller/launch
      - ./config:/ros2_ws/src/ros2_vive_controller/config
      - ./rviz:/ros2_ws/src/ros2_vive_controller/rviz
      - ./assets:/ros2_ws/src/ros2_vive_controller/assets
      - ./setup.py:/ros2_ws/src/ros2_vive_controller/setup.py
    working_dir: /ros2_ws
    entrypoint: ["/entrypoint.sh"]
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]

  # ── FRANKA: (Single Arm) ────────────────────────────────────────────────
  franka:
    <<: *base_robot
    profiles: [franka]
    container_name: ros2_vive_franka
    env_file:
      - .env
    environment:
      <<: [*common_env, *ros_env]
      CYCLONEDDS_URI: file:///ros2_ws/src/ros2_vive_controller/config/franka_cyclonedds.xml
    command: >
      ros2 launch ros2_vive_controller franka_single.launch.py
      serial_right:=${SERIAL_RIGHT:-LHR-9ABF6D66}
      reference_lighthouse_serial:=${REFERENCE_LIGHTHOUSE_SERIAL:-}
      only_right:=true
      linear_scale:=${LINEAR_SCALE:-2.0}

  # ── TIAGO (Dual Arm) ─────────────────────────────────────────────────────
  tiago:
    <<: *base_robot
    profiles: [tiago]
    container_name: ros2_vive_tiago
    env_file: .env
    environment:
      <<: [*common_env, *ros_env]
      CYCLONEDDS_URI: file:///ros2_ws/src/ros2_vive_controller/config/tiago_cyclonedds.xml
    command: >
      ros2 launch ros2_vive_controller tiago_dual.launch.py
      serial_left:=${SERIAL_LEFT:-LHR-97752221}
      serial_right:=${SERIAL_RIGHT:-LHR-9ABF6D66}
      linear_scale:=${LINEAR_SCALE:-1.0}

  # ── TIAGO (Dual Arm) ─────────────────────────────────────────────────────
  tiago_pro:
    <<: *base_robot
    profiles: [tiago_pro]
    container_name: ros2_vive_tiago_pro
    env_file: .env
    environment:
      <<: [*common_env, *ros_env]
      CYCLONEDDS_URI: file:///ros2_ws/src/ros2_vive_controller/config/tiago_cyclonedds.xml
    command: >
      ros2 launch ros2_vive_controller tiago_pro.launch.py
      serial_left:=${SERIAL_LEFT:-LHR-97752221}
      serial_right:=${SERIAL_RIGHT:-LHR-9ABF6D66}
      linear_scale:=${LINEAR_SCALE:-1.0}


  # ── G1 (Dual Arm) ────────────────────────────────────────────────────────
  g1:
    <<: *base_robot
    profiles: [g1]
    container_name: ros2_vive_g1
    environment:
      <<: [*common_env, *ros_env]
      CYCLONEDDS_URI: file:///ros2_ws/src/ros2_vive_controller/config/cyclonedds.xml
    command: >
      ros2 launch ros2_vive_controller g1_dual.launch.py
      serial_left:=${SERIAL_LEFT:-LHR-97752221}
      serial_right:=${SERIAL_RIGHT:-LHR-9ABF6D66}
      linear_scale:=${LINEAR_SCALE:-1.0}