docker-compose.yaml

# Set  the docker compose project name, which will apply to all services
name: node_helpers

# Create a variable for holding common configuration for all containers
# This syntax inspired by https://docs.geoserver.org/2.21.x/en/user/styling/ysld/reference/variables.html
x-common-config: &common-config
  restart: "unless-stopped"
  labels:
    # Tells Promtail to get logs for this container
    - "build.urbanmachine.collect-logs=true"

services:
  ros-nodes:
    command: ros2 launch "launch-profiles/${LAUNCH_PROFILE:- 'set in docker/_shared'}/launcher.py"
    image: ${BUILT_IMAGE_NAME:- 'set-in-env'}
    build:
      context: .
      dockerfile: docker/Dockerfile
    volumes:
      # Mount a directory you can write to from the container for storing persistent data
      # In your local machine this will be in '.docker_volumes/ros-nodes/'. In the robot
      # it will be in '/robot/persistent/'
      - ${VOLUMES_DIRECTORY:- 'set in .env'}/ros-nodes:/robot/persistent
      # Mounts the 'launch-profiles/LAUNCH_PROFILE' directory into '/robot/launch-profile/'
      # This way you can save configuration files from GUI's like rviz right back to your source dir
      # LAUNCH_PROFILE is set in docker/_shared.sh
      - ./launch-profiles/${LAUNCH_PROFILE:- ''}:/robot/launch-profile
      # Necessary for display passthrough
      - "/tmp/.X11-unix:/tmp/.X11-unix:rw"
      # Necessary for PulseAudio passthrough
      - "/run/user/${USER_ID:-1000}/pulse/native:/pulse-socket"
      # Build cache, used by `save-build-cache` and `restore-build-cache` docker scripts
      - type: volume
        source: ros-nodes-build-cache
        target: /robot/build
    environment:
      # Necessary for display passthrough
      DISPLAY: $DISPLAY
      # Necessary for PulseAudio passthrough
      PULSE_SERVER: "unix:/pulse-socket"
    # Enable serial passthrough
    privileged: true
    # Gives the container access to kernel capabilities, useful for most robots
    network_mode: host
    cap_add:
      - ALL
    # Sometimes nodes never fully stop on SIGTERM
    stop_signal: SIGKILL
    <<:
      - *common-config

  grafana:
    image: grafana/grafana-oss:11.3.0
    user: "0"
    volumes:
      - ${VOLUMES_DIRECTORY:- 'set in .env'}/grafana:/var/lib/grafana
      - ./docker/grafana:/etc/grafana
    ports:
      - "${GRAFANA_PORT:-80}:3000"
    <<: *common-config

  promtail:
    image: grafana/promtail:3.2.1
    command: -config.file=/config.yaml
    configs:
      - source: promtail
        target: /config.yaml
    volumes:
      # For reading container labels and logs
      - /var/run/docker.sock:/var/run/docker.sock
      - /var/lib/docker/containers:/var/lib/docker/containers
    # Promtail takes a long time to stop if for some reason Loki isn't running. See:
    # https://github.com/grafana/loki/issues/6533
    stop_signal: SIGKILL
    <<:
      - *common-config

  loki:
    image: grafana/loki:3.2.1
    user: "root"
    volumes:
      - ${VOLUMES_DIRECTORY:- 'set in .env'}/loki:/loki
    <<: *common-config

volumes:
  ros-nodes-build-cache:

configs:
  promtail:
    file: docker/promtail/config.yaml