docker-compose.yml

version: '3'

services:
  prepare:
    build: .
    image: rosserial_stm32:latest
    command: bash -c "
      apt update && 
      rosdep install --from-paths src -y -r && 
      /opt/ros/melodic/env.sh catkin b -j 2 && 
      cd /root/catkin_ws/src/rosserial_stm32/src/ros_lib/examples/chatter/ && 
      /root/catkin_ws/devel/env.sh rosrun rosserial_stm32 make_libraries.py ."
    volumes:
      - ./:/root/catkin_ws/src/rosserial_stm32

  roscore:
    build: .
    image: rosserial_stm32:latest
    container_name: roscore
    command: roscore
    volumes:
      - .ros:/root/.ros
  
  srv:
    build: .
    image: rosserial_stm32:latest
    container_name: srv
    command: rosrun rosserial_python serial_node.py /dev/ttyACM0
    volumes:
      - .ros:/root/.ros
    depends_on: 
      - roscore
    environment:
      - "ROS_HOSTNAME=srv"
      - "ROS_MASTER_URI=http://roscore:11311"
    devices:
      - "/dev/ttyACM0:/dev/ttyACM0"

  client:
    build: .
    image: rosserial_stm32:latest
    container_name: client
    command: bash -c "
      cd /root/catkin_ws/src/rosserial_stm32/src/ros_lib/examples/chatter/Debug/ &&
      arm-none-eabi-objcopy -O binary chatter.elf chatter.bin &&
      st-flash write chatter.bin 0x8000000 &&
      rostopic echo /chatter"
    volumes:
      - .ros:/root/.ros
      - ./:/root/catkin_ws/src/rosserial_stm32
    environment:
      - "ROS_HOSTNAME=client"
      - "ROS_MASTER_URI=http://roscore:11311"
    devices:
      - "/dev/bus/usb:/dev/bus/usb"