docker compose update

2026-01-11 00:23:45 +00:00
parent af6e3b0ade
commit 8a02c4e836
1 changed files with 167 additions and 67 deletions
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -1,26 +1,33 @@
 # =============================================================================
-# RDC Simulation - Docker Compose (GPU-enabled)
+# RDC Simulation - Docker Compose (GPU-enabled, Wayland, Multi-Service)
 # =============================================================================
-# Runs the simulation with GPU acceleration and X11 display forwarding.
+# Runs the complete simulation stack with 3 services:
+#   1. gazebo    - Gazebo Harmonic simulation
+#   2. sitl      - ArduPilot SITL (ArduCopter)
+#   3. controller - Python flight controller
 #
 # Usage:
-#   # Build the container
-#   docker compose build
+#   # Start all services
+#   docker compose up
 #
-#   # Run interactive shell
-#   docker compose run --rm simulation
+#   # Or start individually
+#   docker compose up gazebo
+#   docker compose up sitl
+#   docker compose up controller
 #
-#   # Run specific command
-#   docker compose run --rm simulation ./scripts/run_ardupilot_sim.sh runway
+#   # Interactive shell
+#   docker compose run --rm simulation bash
+#
+#   # Stop everything
+#   docker compose down
 # =============================================================================

-services:
-  simulation:
+# Common configuration anchor
+x-common: &common
+  image: rdc-simulation:latest
  build:
    context: .
    dockerfile: Dockerfile
-    image: rdc-simulation:latest
-    container_name: rdc-sim

  # GPU support (NVIDIA)
  deploy:
@@ -29,54 +36,147 @@ services:
        devices:
          - driver: nvidia
            count: all
-              capabilities: [gpu]
+            capabilities: [ gpu ]

-    # Display forwarding for Gazebo GUI
+  # Environment variables for Wayland + GPU
  environment:
+    # Wayland display
+    &common-env
+    - WAYLAND_DISPLAY=${WAYLAND_DISPLAY:-wayland-0}
+    - XDG_RUNTIME_DIR=/run/user/1000
+    # Fallback X11 (XWayland)
    - DISPLAY=${DISPLAY:-:0}
+    # GPU
    - NVIDIA_VISIBLE_DEVICES=all
    - NVIDIA_DRIVER_CAPABILITIES=all
+    # Qt platform - prefer Wayland, fallback to XCB
+    - QT_QPA_PLATFORM=wayland;xcb
+    - QT_WAYLAND_DISABLE_WINDOWDECORATION=1
    - QT_X11_NO_MITSHM=1
+    # OpenGL
+    - __GLX_VENDOR_LIBRARY_NAME=nvidia
+    - GDK_BACKEND=wayland,x11
+    # Gazebo paths
+    - GZ_SIM_SYSTEM_PLUGIN_PATH=/home/pilot/ardupilot_gazebo/build
+    - GZ_SIM_RESOURCE_PATH=/home/pilot/ardupilot_gazebo/models:/home/pilot/ardupilot_gazebo/worlds:/home/pilot/RDC_Simulation/gazebo/models

-    # Mount X11 socket for display
+  # Mount Wayland and X11 sockets
  volumes:
+    # Wayland socket
+    - ${XDG_RUNTIME_DIR:-/run/user/1000}/${WAYLAND_DISPLAY:-wayland-0}:/run/user/1000/wayland-0:rw
+    # X11 socket (for XWayland fallback)
    - /tmp/.X11-unix:/tmp/.X11-unix:rw
-      - ~/.Xauthority:/home/pilot/.Xauthority:ro
+    # GPU device
+    - /dev/dri:/dev/dri:rw

-    # Network mode for SITL communication
+  # Network mode for SITL communication (all services share host network)
  network_mode: host

-    # Keep stdin open for interactive use
+  # Run as user with access to Wayland socket
+  user: "1000:1000"
+
  stdin_open: true
  tty: true
-    
-    # Run as current user (optional - for file permission compatibility)
-    # user: "${UID:-1000}:${GID:-1000}"
-    
  working_dir: /home/pilot/RDC_Simulation

-  # Alternative: Run headless (no display, for CI/testing)
+services:
+  # =========================================================================
+  # Interactive Shell (for manual control)
+  # =========================================================================
+  simulation:
+    <<: *common
+    container_name: rdc-sim
+    entrypoint: [ "/home/pilot/docker-entrypoint.sh" ]
+    command: [ "bash" ]
+
+  # =========================================================================
+  # Service 1: Gazebo Simulation
+  # =========================================================================
+  gazebo:
+    <<: *common
+    container_name: rdc-gazebo
+    entrypoint: [ "/bin/bash", "-c" ]
+    command:
+      - |
+        source /opt/ros/jazzy/setup.bash
+        source ~/.bashrc
+        echo "Starting Gazebo Harmonic..."
+        echo "Waiting 5 seconds for initialization..."
+        sleep 5
+        cd /home/pilot/RDC_Simulation
+        ./scripts/run_ardupilot_sim.sh runway
+
+  # =========================================================================
+  # Service 2: ArduPilot SITL
+  # =========================================================================
+  sitl:
+    <<: *common
+    container_name: rdc-sitl
+    depends_on:
+      gazebo:
+        condition: service_started
+    entrypoint: [ "/bin/bash", "-c" ]
+    command:
+      - |
+        source /opt/ros/jazzy/setup.bash
+        source ~/.bashrc
+        echo "Waiting 15 seconds for Gazebo to start..."
+        sleep 15
+        echo "Starting ArduPilot SITL..."
+        cd /home/pilot/ardupilot
+        sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --no-mavproxy
+
+  # =========================================================================
+  # Service 3: Flight Controller
+  # =========================================================================
+  controller:
+    <<: *common
+    container_name: rdc-controller
+    depends_on:
+      sitl:
+        condition: service_started
+    entrypoint: [ "/bin/bash", "-c" ]
+    command:
+      - |
+        source /opt/ros/jazzy/setup.bash
+        source ~/.bashrc
+        source /home/pilot/RDC_Simulation/venv/bin/activate
+        echo "Waiting 30 seconds for SITL to initialize..."
+        sleep 30
+        echo "Starting flight controller..."
+        cd /home/pilot/RDC_Simulation
+        python scripts/run_ardupilot.py --pattern square
+
+  # =========================================================================
+  # Headless Mode (CI/Server - no display)
+  # =========================================================================
  simulation-headless:
-    build:
-      context: .
-      dockerfile: Dockerfile
-    image: rdc-simulation:latest
+    <<: *common
    container_name: rdc-sim-headless
-    
-    deploy:
-      resources:
-        reservations:
-          devices:
-            - driver: nvidia
-              count: all
-              capabilities: [gpu]
-    
+    user: "1000:1000"
    environment:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=compute,utility
      - HEADLESS=1
+      - LIBGL_ALWAYS_SOFTWARE=1
+      - GZ_SIM_SYSTEM_PLUGIN_PATH=/home/pilot/ardupilot_gazebo/build
+      - GZ_SIM_RESOURCE_PATH=/home/pilot/ardupilot_gazebo/models:/home/pilot/ardupilot_gazebo/worlds:/home/pilot/RDC_Simulation/gazebo/models
+    volumes: [] # No display mounts needed
+    entrypoint: [ "/home/pilot/docker-entrypoint.sh" ]
+    command: [ "bash" ]

-    network_mode: host
-    stdin_open: true
-    tty: true
-    working_dir: /home/pilot/RDC_Simulation
+  # =========================================================================
+  # All-in-One (runs everything in one container)
+  # =========================================================================
+  all-in-one:
+    <<: *common
+    container_name: rdc-all
+    entrypoint: [ "/bin/bash", "-c" ]
+    command:
+      - |
+        source /opt/ros/jazzy/setup.bash
+        source ~/.bashrc
+        source /home/pilot/RDC_Simulation/venv/bin/activate
+        cd /home/pilot/RDC_Simulation
+        echo "Starting all-in-one simulation..."
+        ./scripts/run_ardupilot_controller.sh