fe15edcbd5
- Unity frontend with ROS-TCP-Connector for ROS2 communication - Docker-based ROS2 Jazzy backend with MoveIt2 integration - Support for 1-9 DOF manipulators - UR5 robot configuration and URDF files - Assembly task feasibility analysis tools - Comprehensive documentation and deployment guides 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <noreply@anthropic.com>
112 lines
2.7 KiB
YAML
112 lines
2.7 KiB
YAML
version: '3.8'
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services:
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ros2-unity:
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build:
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context: ..
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dockerfile: docker/Dockerfile
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container_name: unity-ros2-system
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hostname: ros2-unity
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# 网络配置
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ports:
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- "9090:9090" # Rosbridge WebSocket端口
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- "10000:10000" # ROS-TCP-Endpoint主端口
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- "10001:10001" # 备用端口1
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- "10002:10002" # 备用端口2
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- "11311:11311" # ROS Master端口 (如果需要ROS1桥接)
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# 环境变量
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environment:
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- ROS_DOMAIN_ID=0
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- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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- ROS_LOCALHOST_ONLY=0
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- PYTHONUNBUFFERED=1
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- DISPLAY=${DISPLAY:-:0}
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# 卷挂载
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volumes:
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- ../ros2-workspace:/ros2_ws_host:rw # 主机工作空间源码
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- ../configs:/ros2_ws/configs:ro
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- ../logs:/ros2_ws/logs:rw
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- /tmp/.X11-unix:/tmp/.X11-unix:rw # X11转发 (Linux GUI支持)
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# 网络模式
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network_mode: bridge
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# 重启策略
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restart: unless-stopped
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# 健康检查
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healthcheck:
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test: ["CMD", "/bin/bash", "-c", "source /opt/ros/jazzy/setup.bash && ros2 node list"]
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interval: 30s
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timeout: 10s
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retries: 3
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start_period: 40s
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# 资源限制
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deploy:
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resources:
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limits:
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memory: 4G
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cpus: '2.0'
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reservations:
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memory: 2G
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cpus: '1.0'
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# 交互式终端
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stdin_open: true
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tty: true
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# 启动命令
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command: >
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bash -c "
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source /opt/ros/jazzy/setup.bash &&
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if [ -f /ros2_ws/install/setup.bash ]; then source /ros2_ws/install/setup.bash; fi &&
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echo '启动ROS2 Unity系统...' &&
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ros2 run ros_tcp_endpoint default_server_endpoint --ros-args -p ROS_IP:=0.0.0.0 -p ROS_TCP_PORT:=10000
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"
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# 可选：ROS2监控服务
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ros2-monitor:
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build:
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context: ..
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dockerfile: docker/Dockerfile
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container_name: ros2-monitor
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depends_on:
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- ros2-unity
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environment:
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- ROS_DOMAIN_ID=0
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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volumes:
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- ../logs:/ros2_ws/logs:rw
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command: >
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bash -c "
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echo '启动ROS2监控服务...'
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sleep 10
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while true; do
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echo '=== ROS2 系统状态 ==='
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echo '节点列表:'
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ros2 node list || echo '无活动节点'
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echo '话题列表:'
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ros2 topic list || echo '无活动话题'
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echo '服务列表:'
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ros2 service list || echo '无活动服务'
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echo '========================'
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sleep 30
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done
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"
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profiles:
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- monitoring
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networks:
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default:
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driver: bridge
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ipam:
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config:
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- subnet: 172.20.0.0/16 |