docker-compose.yaml

version: '3'

services:
  ros-master:
    image: roscore-map-server
    environment:
      - "ROS_MASTER_URI=http://roscore-map-server:11311"
      - "TURTLEBOT_STAGE_MAP_FILE=/opt/ros/kinetic/share/map_server/maze.yaml"
    hostname: roscore-map-server
  turtlebot-drivers:
    image: sim-turtlebot-drivers
    hostname: drivers
    environment:
      - "ROS_MASTER_URI=http://roscore-map-server:11311"
      - "DISPLAY=$DISPLAY"
      - "XAUTHORITY=/home/turtlebot/.Xauthority"
      - "TURTLEBOT_STAGE_WORLD_FILE=/home/turtlebot/catkin_ws/src/turtlebot_simulator/turtlebot_stage/maps/stage/twoRobotsMaze.world"
    volumes:
    - "/tmp/.X11-unix:/tmp/.X11-unix"
    - "$HOME/.Xauthority:/home/turtlebot/.Xauthority"
  turtlebot-amcl:
    image: amcl
    hostname: amcl
    environment:
      - "ROS_MASTER_URI=http://roscore-map-server:11311"
      - "POSE_X=2.0"
      - "POSE_Y=2.0"
      - "POSE_A=0.0"
      - "SCAN_TOPIC=scan"
      - "ROBOT_NS=robot_0"
      - "ODOM_FRAME=robot_0/odom"
      - "BASE_FRAME=robot_0/base_footprint"
  turtlebot-nav:
    image: auto-nav
    hostname: auto-nav
    environment:
      - "ROS_MASTER_URI=http://roscore-map-server:11311"
      - "SCAN_TOPIC=scan"
      - "ROBOT_NS=robot_0"
  turtlebot-control:
    image: digital-twin
    hostname: digital-twin
    environment:
      - "ROS_MASTER_URI=http://roscore-map-server:11311"
      - "DISPLAY=$DISPLAY"
      - "XAUTHORITY=/home/turtlebot/.Xauthority"
    volumes:
    - "/tmp/.X11-unix:/tmp/.X11-unix"
    - "$HOME/.Xauthority:/home/turtlebot/.Xauthority"