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Consolidate agent and bridge containers
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Abishalini committed Aug 22, 2023
1 parent c5b8d68 commit 0655fb7
Showing 1 changed file with 3 additions and 12 deletions.
15 changes: 3 additions & 12 deletions docker-compose.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,8 @@ services:
- USERNAME=${USERNAME:-studio-user}
- MOVEIT_STUDIO_BASE_IMAGE=picknikciuser/moveit-studio:${STUDIO_DOCKER_TAG:-main}

# Starts the MoveIt Studio Agent
agent:
# Starts the MoveIt Studio Agent and the Bridge between the Agent and the Web UI
agent_bridge:
extends: base
privileged: true
# Allow the user to use the host's network video4linux and usb_device devices.
Expand All @@ -39,16 +39,7 @@ services:
# Allow access to host hardware e.g. RealSense cameras
- /dev:/dev
# TODO: replace this tee here and in common_aliases with some integrated logger
command: bash -c "ros2 launch moveit_studio_agent studio_agent.launch.py 2>&1 | tee -a ~/.ros/log/agent_0_0.log"

# Starts the Bridge between the Agent and the Web UI
bridge:
extends: base
depends_on:
agent:
condition: service_started
# TODO: replace this tee here and in common_aliases with some integrated logger
command: bash -c "ros2 launch moveit_studio_bridge studio_bridge.launch.py 2>&1 | tee -a ~/.ros/log/bridge_0_0.log"
command: bash -c "ros2 launch moveit_studio_agent studio_agent_bridge.launch.py 2>&1 | tee -a ~/.ros/log/agent_bridge_0_0.log"

# Starts the frontend-agent
frontend_agent:
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