init

docker-compose.yml

@@ -0,0 +1,55 @@
+version: '3.8'
+
+services:
+  # ========================================================================
+  # ROS 2 + SkyLink Bridge 容器
+  # ========================================================================
+  
+  ros2-bridge:
+    image: ros:humble-ros-core
+    container_name: skylink_ros2_bridge
+    
+    # 网络配置
+    network_mode: host  # 使用主机网络以支持 UDP 广播
+    
+    # 环境变量
+    environment:
+      - ROS_DOMAIN_ID=0
+      - ROS_DISTRO=humble
+    
+    # 卷挂载
+    volumes:
+      - ./skylink_ros2:/workspace
+      - /dev:/dev  # 相机访问
+    
+    # 设备挂载
+    devices:
+      - /dev/video0:/dev/video0  # USB 摄像头
+      - /dev/video1:/dev/video1  # (可选) 第二个摄像头
+    
+    # 启动命令
+    command: >
+      bash -c "
+      source /opt/ros/humble/setup.bash &&
+      cd /workspace &&
+      colcon build &&
+      source install/setup.bash &&
+      ros2 launch skylink_bridge bridge.launch.py
+      "
+    
+    # 资源限制
+    deploy:
+      resources:
+        limits:
+          cpus: '2'
+          memory: 2G
+        reservations:
+          cpus: '1'
+          memory: 1G
+    
+    # 重启策略
+    restart: unless-stopped
+
+networks:
+  default:
+    driver: bridge