56 lines
1.2 KiB
YAML
56 lines
1.2 KiB
YAML
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version: '3.8'
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services:
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# ========================================================================
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# ROS 2 + SkyLink Bridge 容器
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# ========================================================================
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ros2-bridge:
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image: ros:humble-ros-core
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container_name: skylink_ros2_bridge
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# 网络配置
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network_mode: host # 使用主机网络以支持 UDP 广播
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# 环境变量
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environment:
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- ROS_DOMAIN_ID=0
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- ROS_DISTRO=humble
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# 卷挂载
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volumes:
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- ./skylink_ros2:/workspace
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- /dev:/dev # 相机访问
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# 设备挂载
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devices:
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- /dev/video0:/dev/video0 # USB 摄像头
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- /dev/video1:/dev/video1 # (可选) 第二个摄像头
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# 启动命令
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command: >
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bash -c "
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source /opt/ros/humble/setup.bash &&
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cd /workspace &&
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colcon build &&
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source install/setup.bash &&
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ros2 launch skylink_bridge bridge.launch.py
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"
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# 资源限制
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deploy:
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resources:
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limits:
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cpus: '2'
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memory: 2G
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reservations:
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cpus: '1'
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memory: 1G
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# 重启策略
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restart: unless-stopped
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networks:
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default:
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driver: bridge
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