sint-protocol/docker/compose/isaac-sim-validation.yml at main · sint-ai/sint-protocol · GitHub

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version: "3.9"

services:
  gateway:
    build:
      context: ../..
      dockerfile: apps/gateway-server/Dockerfile
    ports:
      - "3100:3100"
    environment:
      SINT_PORT: "3100"
      SINT_STORE: postgres
      SINT_CACHE: redis
      DATABASE_URL: postgresql://sint:sint@postgres:5432/sint
      REDIS_URL: redis://redis:6379
      SINT_LOG_LEVEL: info
      SINT_WS_ALLOW_QUERY_API_KEY: "true"
    depends_on:
      postgres:
        condition: service_healthy
      redis:
        condition: service_healthy
    healthcheck:
      test: ["CMD", "curl", "-f", "http://localhost:3100/v1/health"]
      interval: 15s
      timeout: 5s
      retries: 5
      start_period: 10s

  postgres:
    image: postgres:16-alpine
    environment:
      POSTGRES_USER: sint
      POSTGRES_PASSWORD: sint
      POSTGRES_DB: sint
    volumes:
      - pgdata:/var/lib/postgresql/data
      - ../../packages/persistence/migrations:/docker-entrypoint-initdb.d:ro
    healthcheck:
      test: ["CMD-SHELL", "pg_isready -U sint -d sint"]
      interval: 5s
      timeout: 5s
      retries: 5
      start_period: 10s

  redis:
    image: redis:7-alpine
    command: redis-server --appendonly yes
    volumes:
      - redisdata:/data
    healthcheck:
      test: ["CMD", "redis-cli", "ping"]
      interval: 5s
      timeout: 5s
      retries: 5
      start_period: 5s

  isaac-sim:
    image: ${ISAAC_SIM_IMAGE:-nvcr.io/nvidia/isaac-sim:4.2.0}
    command: ["bash", "-lc", "./runheadless.sh"]
    environment:
      ACCEPT_EULA: "Y"
      PRIVACY_CONSENT: "Y"
      DISPLAY: ${DISPLAY:-}
      ROS_DOMAIN_ID: ${ROS_DOMAIN_ID:-20}
    ports:
      - "8211:8211"
      - "49100:49100"

  isaac-ros2-publisher:
    image: osrf/ros:jazzy-desktop
    depends_on:
      gateway:
        condition: service_healthy
    command: >-
      bash -lc "
      source /opt/ros/jazzy/setup.bash &&
      sleep 8 &&
      ros2 topic pub --rate 2 /isaac/warehouse_bot/cmd_vel geometry_msgs/msg/Twist
      '{linear: {x: 0.25, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'
      "

volumes:
  pgdata:
  redisdata: