Consolidate agent and bridge containers

docker-compose.yaml

@@ -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.
@@ -38,17 +38,12 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix:ro
       # Allow access to host hardware e.g. RealSense cameras
       - /dev:/dev
+    deploy:
+      restart_policy:
+        condition: any
+        delay: 2s
     # 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: