docker-compose.yml

version: "2.3"

services:
  master:
    container_name: master-aisl-pytorch
    image: aisl-pytorch-ros:21.03-py3
    command: roscore
    environment:
      - ROS_MASTER_URI=http://localhost:11311
    tty: true

  catkin-build:
    container_name: catkin-build
    build: .
    runtime: nvidia
    image: aisl-pytorch-ros:21.03-py3
    command: catkin build -DCMAKE_BUILD_TYPE=Debug
    working_dir: /root/catkin_ws
    volumes:
      - ./catkin_ws/:/root/catkin_ws/
    tty: true

  ros-object-recognition:
    container_name: ros-object-recognition
    depends_on:
      - master
    build: .
    runtime: nvidia
    image: aisl-pytorch-ros:21.03-py3
    command: roslaunch pytorch_ros object_recognition.launch usb_cam:=false
    working_dir: /root/catkin_ws
    environment:
      - ROS_MASTER_URI=http://master-aisl-pytorch:11311
      - PYTHONPATH=$PYTHONPATH:/root/training/
    volumes:
      - ./training:/root/training/
      - ./catkin_ws:/root/catkin_ws/
    tty: true
    shm_size: 512M
    privileged: true

  ros-usb-cam:
    container_name: ros-usb-cam
    depends_on:
      - master
    build: .
    runtime: nvidia
    image: aisl-pytorch-ros:21.03-py3
    command: rosrun usb_cam usb_cam_node
    working_dir: /root/catkin_ws
    environment:
      - ROS_MASTER_URI=http://master-aisl-pytorch:11311
    volumes:
      - ./catkin_ws:/root/catkin_ws/
    tty: true
    privileged: true

  ros-object-detection:
    container_name: ros-object-detection
    depends_on:
      - master
    build: .
    runtime: nvidia
    image: aisl-pytorch-ros:21.03-py3
    command: roslaunch pytorch_ros object_detection.launch
    working_dir: /root/catkin_ws
    environment:
      - ROS_MASTER_URI=http://master-aisl-pytorch:11311
      - PYTHONPATH=$PYTHONPATH:/root/training/
    volumes:
      - ./training:/root/training/
      - ./catkin_ws:/root/catkin_ws/
    tty: true
    shm_size: 512M

  ros-semantic-segmentation:
    container_name: ros-semantic-segmentation
    depends_on:
      - master
    build: .
    runtime: nvidia
    image: aisl-pytorch-ros:21.03-py3
    command: roslaunch pytorch_ros semantic_segmentation.launch
    working_dir: /root/catkin_ws
    environment:
      - ROS_MASTER_URI=http://master-aisl-pytorch:11311
      - PYTHONPATH=$PYTHONPATH:/root/training/
    volumes:
      - ./training:/root/training/
      - ./catkin_ws:/root/catkin_ws/
    tty: true
    shm_size: 512M

  ros-depth-estimation:
    container_name: ros-depth-estimation
    depends_on:
      - master
    build: .
    runtime: nvidia
    image: aisl-pytorch-ros:21.03-py3
    command: roslaunch pytorch_ros depth_estimation.launch
    working_dir: /root/catkin_ws
    environment:
      - ROS_MASTER_URI=http://master-aisl-pytorch:11311
      - PYTHONPATH=$PYTHONPATH:/root/training/
    volumes:
      - ./training:/root/training/
      - ./catkin_ws:/root/catkin_ws/
    tty: true
    shm_size: 512M

  tensorboard:
    container_name: tensorboard-aisl-pytorch
    image: aisl-pytorch-train:21.03-py3
    entrypoint: tensorboard --logdir /tmp/runs
    build: .
    ports:
      - 60009:6006
    mem_limit: 15g
    volumes:
      - ./espdnet/:/root/espdnet/
      - /data/aisl/matsuzaki/runs/ycb_classification:/tmp/runs/