dora/docker-compose.ros2dev.yml at main · dora-rs/dora · GitHub

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# ROS2-bridge dev environment for macOS — issue #1170, Phase 0.
#
# A single container that reproduces the nightly `ros2-bridge` CI job. dora and
# all ROS2 nodes run together here, so DDS discovery stays inside one network
# namespace (the only reliable topology on macOS — see docker/ros2dev/Dockerfile).
#
# Usage is via scripts/ros2dev.sh (build | shell | verify). Direct use:
#   docker compose -f docker-compose.ros2dev.yml build
#   docker compose -f docker-compose.ros2dev.yml run --rm ros2dev bash
services:
  ros2dev:
    build:
      context: .
      dockerfile: docker/ros2dev/Dockerfile
    image: dora-ros2dev:humble
    working_dir: /work
    # Default bridge networking is correct: everything runs in THIS container,
    # so loopback/eth0 multicast SPDP works exactly as on the CI runner. Do not
    # add host networking — on Docker Desktop for Mac it does not reach the Mac
    # and is unnecessary when dora + ROS2 are co-located.
    environment:
      QT_QPA_PLATFORM: offscreen
      # Do NOT set ROS_DOMAIN_ID. dora's ros2_client::Context::new() defaults to
      # domain 0 and does not read ROS_DOMAIN_ID, while the CLI-spawned ROS2
      # nodes (turtlesim, minimal-service) would honor it — a mismatch breaks DDS
      # discovery. Leaving it unset keeps both sides on domain 0, matching CI.
      # The container is isolated anyway, so domain 0 is collision-free.
    volumes:
      - .:/work
      # Persist the cargo registry + build cache across runs. The target volume
      # is mounted directly over /work/target: cargo's DEFAULT target dir then
      # IS this named volume, so (a) the example dataflows' hardcoded
      # `target/debug/<bin>` node paths resolve correctly, and (b) the
      # macOS-native target/ is shadowed — no Linux/arch artifacts leak into the
      # host repo (mixing arch fingerprints would thrash every rebuild).
      - ros2dev-cargo-registry:/usr/local/cargo/registry
      - ros2dev-target:/work/target
    # Keep the container alive for `exec`-style iteration if started detached.
    stdin_open: true
    tty: true

volumes:
  ros2dev-cargo-registry:
  ros2dev-target: