compose.ros2router.yaml

x-husarnet-common:
  &husarnet-common
  ipc: shareable
  volumes:
    - /var/lib/husarnet
  sysctls:
    - net.ipv6.conf.all.disable_ipv6=0
  cap_add:
    - NET_ADMIN
  devices:
    - /dev/net/tun

services:

  # TALKER

  talker:
    build: .
    network_mode: service:husarnet-talker
    ipc: service:husarnet-talker
    depends_on: 
      husarnet-talker: { condition: service_healthy }
    environment:
      - ROS_DISCOVERY_SERVER=discovery-server:11811
    command: ros2 run demo_nodes_cpp talker

  husarnet-talker:
    image: husarnet/husarnet:2.0.180
    <<: *husarnet-common
    networks:
      - network_talker
    environment:
      - HOSTNAME=talker
      - JOINCODE
      - WAIT_HOSTNAMES=discovery-server
      - HUSARNET_DEBUG=1

  # LISTENER

  listener:
    build: .
    network_mode: service:husarnet-listener
    ipc: service:husarnet-listener
    depends_on: 
      husarnet-listener: { condition: service_healthy }
    environment:
      - ROS_DISCOVERY_SERVER=discovery-server:11811
    command: ros2 run demo_nodes_cpp listener

  husarnet-listener:
    image: husarnet/husarnet:2.0.180
    <<: *husarnet-common
    networks:
      - network_listener
    environment:
      - HOSTNAME=listener
      - JOINCODE
      - WAIT_HOSTNAMES=discovery-server
      - HUSARNET_DEBUG=1

  # DS

  ds:
    image: husarnet/ros2router:1.2.0
    network_mode: service:husarnet-ds
    ipc: service:husarnet-ds
    depends_on: 
      husarnet-ds: { condition: service_healthy }
    environment:
      - DISCOVERY_SERVER_LISTENING_PORT=11811

  listener-ds:
    build: .
    network_mode: service:husarnet-ds
    ipc: service:husarnet-ds
    command: ros2 run demo_nodes_cpp listener

  husarnet-ds:
    image: husarnet/husarnet:2.0.180
    <<: *husarnet-common
    networks:
      - network_ds
    environment:
      - HOSTNAME=discovery-server
      - JOINCODE
      - HUSARNET_DEBUG=1

networks:
  network_talker:
    driver: bridge

  network_listener:
    driver: bridge

  network_ds:
    driver: bridge