docker-compose.yml

version: '3.9'

services:

  master:
    build: 
      context: ./
      target: ros_base
    container_name: ros-master
    ports:
      - "11311:11311"
      - "33690:33690"
    environment:
      - "ROS_MASTER_URI=http://localhost:11311"
    command: stdbuf -o L roscore
    networks:
      - ros

  talker:
    build: 
      context: ./
      target: ros_base
    container_name: ros-talker
    depends_on:
      - master
    environment:
      - "ROS_MASTER_URI=http://${MASTER_HOSTNAME:-master}:11311"
      - "ROS_HOSTNAME=talker"
    command: stdbuf -o L rostopic pub /chatter std_msgs/String "hello" -r 1
    networks:
      - ros

  listener:
    build: 
      context: ./
      target: ros_base
    container_name: ros-listener
    depends_on:
      - master
    environment:
      - "ROS_MASTER_URI=http://${MASTER_HOSTNAME:-master}:11311"
      - "ROS_HOSTNAME=listener"
    command: stdbuf -o L rostopic echo /chatter
    networks:
      - ros

  dev:
    build: 
      context: ./
      target: ros_dev
    container_name: ros-dev
    depends_on:
      - master
    environment:
      - "ROS_MASTER_URI=http://${MASTER_HOSTNAME:-master}:11311"
      - "ROS_HOSTNAME=dev"
    ports:
      - "6080:6080"
    # cap_add:
    #   - "NET_ADMIN"
    #   - "NET_BROADCAST"
    volumes:
      - ./workspaces/:/workspaces/
    command: bash -c "/start_novnc.sh"
    networks:
      - ros

networks:
  ros:
    driver: bridge