generate_bags_compose.yml

version: "3.8"
services:
  adk:
    # image: darpaansr.azurecr.io/adk:latest
    image: darpaansr.azurecr.io/adk:2.1.5
    volumes:
      - ./task_input/generate_bags/adk/${SCENARIO_ID:?error}/:/mission_briefing
      - ./task_input/generate_bags/adk/healthcheck.sh:/healthcheck.sh
      - ./task_output/generate_bags/adk/adk_output:/output
      - "/tmp/.X11-unix:/tmp/.X11-unix:rw"
    command: "--mission_thread=${MISSION_THREAD:?error} --use_mission_briefing"
    ipc: host
    pid: host
    environment:
      - ROS_DOMAIN_ID=0
      - ROS_SECURITY_ENABLE=false
      - MAP_ALTITUDE
      - DISPLAY
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: 1
              capabilities: [gpu]
    # entrypoint: /bin/bash
    # tty: True
    # stdin_open: True
    # restart: always
    healthcheck:
      test: /healthcheck.sh
      # test: /healthcheck.sh
      interval: 10s
      timeout: 20s
      retries: 3

  recorder:
    image: darpaansr.azurecr.io/tester:latest
    entrypoint: ["/input/record_entrypoint.sh", "${MISSION_THREAD}"]
    # entrypoint: /bin/bash
    # tty: True
    # stdin_open: True
    ipc: host
    pid: host
    volumes:
      - ./task_input/generate_bags/recorder:/input
      - ./task_output/generate_bags/recorder:/bag_root
    environment:
      - ROS_DOMAIN_ID=0
      - ROS_SECURITY_ENABLE=false
      - TIMEOUT=${TIMEOUT:?error}
    
    depends_on:
      adk:
        condition: service_healthy
      performer:
        condition: service_started
  performer:
    image: ${TA1_IMAGE:?error}
    volumes: 
      - ./task_input/generate_bags/performer/${SCENARIO_ID:?error}/:/mission_briefing
    ipc: host
    pid: host
    environment:
      - ROS_DOMAIN_ID=0
      - ROS_SECURITY_ENABLE=false
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: 1
              capabilities: [ gpu ]
    depends_on:
      adk:
        condition: service_healthy