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compose.yaml
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services:
# Service providing the Spot SDK and its dependencies (based on Ubuntu 20.04 LTS)
spot-sdk:
extends: # Add config for GUIs and useful terminal properties on Ubuntu hosts
file: ./docker/ros_docker/compose/core-compose.yaml
service: base-gui-ubuntu
build:
context: .
target: spot-sdk
args:
BASE_IMAGE: ubuntu:20.04 # Use a base image without GPU support
SPOT_SDK_VERSION: 4.1.0 # Specifies the Spot Python package versions
image: bennedh/spot-skills:spot-sdk
volumes: # Mount this repository into the container (for file access)
- .:/docker/spot_skills
# Service that builds an image with ROS 1 Noetic and MoveIt (w/o NVIDIA GPU)
spot-moveit-build:
build: # Command: docker compose --progress plain build spot-moveit-build
context: .
target: spot-sdk
args:
BASE_IMAGE: ubuntu:20.04 # Use a base image without GPU support
SPOT_SDK_VERSION: 4.1.0 # Specifies the Spot Python package versions
INSTALL_SPOT_SDK_ONTO: noetic-moveit # Install Spot SDK onto the MoveIt stage
image: bennedh/spot-skills:spot-moveit
# Service configuring the Spot SDK + MoveIt image for an Ubuntu host (no GPU)
spot-moveit:
extends: # Add config for GUIs on Ubuntu host machines
file: ./docker/ros_docker/compose/core-compose.yaml
service: base-gui-ubuntu
image: bennedh/spot-skills:spot-moveit
volumes: # Mount this repository (a ROS workspace) into the container
- .:/docker/spot_skills
# Service configuring the Spot SDK + MoveIt image for an Ubuntu host with NVIDIA GPU
spot-moveit-gpu:
extends: # Extend Docker service config for GUIs and NVIDIA GPU(s)
file: ./docker/ros_docker/compose/core-compose.yaml
service: base-nvidia-ubuntu
build:
context: .
target: spot-sdk
args:
SPOT_SDK_VERSION: 4.1.0 # Specifies the Spot Python package versions
# Install the Spot SDK onto the stage that has ROS 1 Noetic and MoveIt
INSTALL_SPOT_SDK_ONTO: noetic-moveit
image: bennedh/spot-skills:spot-moveit-gpu
volumes: # Mount this repository (a ROS workspace) into the container
- .:/docker/spot_skills
# Service for running TAMP experiments alongside Spot (w/o GPU)
spot-tamp:
extends: # Add config for GUIs on Ubuntu host machines
file: ./docker/ros_docker/compose/core-compose.yaml
service: base-gui-ubuntu
build: # Command: docker compose --progress plain build spot-tamp
context: .
target: spot-tamp
args:
BASE_IMAGE: ubuntu:20.04 # Use a base image without GPU support
SPOT_SDK_VERSION: 4.1.0 # Specifies the Spot Python package versions
INSTALL_SPOT_SDK_ONTO: noetic-moveit # Install Spot SDK onto the MoveIt stage
image: bennedh/spot-skills:spot-tamp
volumes: # Mount this repository (a ROS workspace) into the container
- .:/docker/spot_skills
# Service for TAMP development on macOS hosts (Note: GUI may not work)
spot-tamp-mac:
extends: # Add config for macOS host machines
file: ./docker/ros_docker/compose/core-compose.yaml
service: base-gui-mac-host
build: # Command: docker compose --progress plain build spot-tamp-mac
context: .
target: spot-tamp
args:
BASE_IMAGE: ubuntu:20.04 # Use a base image without GPU support
SPOT_SDK_VERSION: 4.1.0 # Specifies the Spot Python package versions
INSTALL_SPOT_SDK_ONTO: noetic-moveit # Install Spot SDK onto the MoveIt stage
image: bennedh/spot-skills:spot-tamp-mac
volumes: # Mount this repository (a ROS workspace) into the container
- .:/docker/spot_skills
# Service for running TAMP experiments alongside Spot (w/ NVIDIA GPU)
spot-tamp-gpu:
extends: # Extend Docker service config for GUIs and NVIDIA GPU(s)
file: ./docker/ros_docker/compose/core-compose.yaml
service: base-nvidia-ubuntu
build:
context: .
target: spot-tamp
args:
SPOT_SDK_VERSION: 4.1.0 # Specifies the Spot Python package versions
# Install the Spot SDK onto the stage that has ROS 1 Noetic and MoveIt
INSTALL_SPOT_SDK_ONTO: noetic-moveit
image: bennedh/spot-skills:spot-tamp-gpu
volumes: # Mount this repository (a ROS workspace) into the container
- .:/docker/spot_skills