Multi-Robot-Coordination-Framework/docker-compose.yml at main · JayDS22/Multi-Robot-Coordination-Framework · GitHub

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version: '3.8'

services:
  coordination-master:
    build: .
    container_name: multi-robot-master
    environment:
      - ROS_DOMAIN_ID=42
      - MASTER_IP=coordination-master
    ports:
      - "8080:8080"  # Web interface
      - "8081:8081"  # API
    volumes:
      - ./logs:/opt/multi_robot_ws/logs
      - ./config:/opt/multi_robot_ws/src/multi_robot_coordination/config
    command: ["python3", "/opt/multi_robot_ws/src/multi_robot_coordination/coordination_master.py", "--robots", "5", "--environment", "warehouse"]
    networks:
      - multi-robot-net

  robot-1:
    build: .
    container_name: multi-robot-agent-1
    environment:
      - ROS_DOMAIN_ID=42
      - ROBOT_ID=robot_1
      - MASTER_IP=coordination-master
    depends_on:
      - coordination-master
    volumes:
      - ./logs:/opt/multi_robot_ws/logs
      - ./config:/opt/multi_robot_ws/src/multi_robot_coordination/config
    command: ["python3", "/opt/multi_robot_ws/src/multi_robot_coordination/robot_agent.py", "--robot-id", "robot_1"]
    networks:
      - multi-robot-net

  robot-2:
    build: .
    container_name: multi-robot-agent-2
    environment:
      - ROS_DOMAIN_ID=42
      - ROBOT_ID=robot_2
      - MASTER_IP=coordination-master
    depends_on:
      - coordination-master
    volumes:
      - ./logs:/opt/multi_robot_ws/logs
      - ./config:/opt/multi_robot_ws/src/multi_robot_coordination/config
    command: ["python3", "/opt/multi_robot_ws/src/multi_robot_coordination/robot_agent.py", "--robot-id", "robot_2"]
    networks:
      - multi-robot-net

  robot-3:
    build: .
    container_name: multi-robot-agent-3
    environment:
      - ROS_DOMAIN_ID=42
      - ROBOT_ID=robot_3
      - MASTER_IP=coordination-master
    depends_on:
      - coordination-master
    volumes:
      - ./logs:/opt/multi_robot_ws/logs
      - ./config:/opt/multi_robot_ws/src/multi_robot_coordination/config
    command: ["python3", "/opt/multi_robot_ws/src/multi_robot_coordination/robot_agent.py", "--robot-id", "robot_3"]
    networks:
      - multi-robot-net

  task-generator:
    build: .
    container_name: multi-robot-task-generator
    environment:
      - ROS_DOMAIN_ID=42
      - MASTER_IP=coordination-master
    depends_on:
      - coordination-master
    volumes:
      - ./logs:/opt/multi_robot_ws/logs
      - ./config:/opt/multi_robot_ws/src/multi_robot_coordination/config
    command: ["python3", "/opt/multi_robot_ws/src/multi_robot_coordination/task_generator.py", "--rate", "0.5", "--environment", "warehouse"]
    networks:
      - multi-robot-net

  system-monitor:
    build: .
    container_name: multi-robot-monitor
    environment:
      - ROS_DOMAIN_ID=42
      - MASTER_IP=coordination-master
      - DISPLAY=${DISPLAY}
    depends_on:
      - coordination-master
    volumes:
      - ./logs:/opt/multi_robot_ws/logs
      - ./config:/opt/multi_robot_ws/src/multi_robot_coordination/config
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
    command: ["python3", "/opt/multi_robot_ws/src/multi_robot_coordination/system_monitor.py", "--no-gui"]
    networks:
      - multi-robot-net

networks:
  multi-robot-net:
    driver: bridge