docker compose for testing

2021-04-20 16:54:59 +02:00 · 2021-04-20 16:54:59 +02:00 · c6e5da518e
parent 0df0c84885
commit c6e5da518e
1 changed files with 36 additions and 0 deletions
--- a/docker-compose.yml
+++ b/docker-compose.yml
@ -0,0 +1,36 @@
+version: "3.9"
+services:
+  controller:
+    build: .
+    ports:
+      - "8888:8888"
+    environment:
+      - MASTER_IP=10.6.6.8
+      - SLAVE_IP=10.6.6.8
+      #BME lab Configuration
+      # Fred
+      #MASTER_IP=10.6.6.12
+      # Erik
+      #SLAVE_IP=10.6.6.10
+      # Master: RG2 Gripper
+      - MASTER_GRIPPER_WIDTH_OPENED=50
+      - MASTER_GRIPPER_WIDTH_CLOSED=28
+      # Slave: RG2FT Gripper
+      - SLAVE_GRIPPER_IP=10.6.6.11
+      - SLAVE_GRIPPER_WIDTH_OPENED=90
+      - SLAVE_GRIPPER_WIDTH_CLOSED=28
+      - MASTER_ENABLE=0
+      - SLAVE_ENABLE=0
+      - JOGGING_ENABLE=1
+      - EXECUTION=SLOW
+      #EXECUTION=FAST
+      #Used with moveL
+      - L_SPEED_SLOW=0.05
+      - L_SPEED_FAST=0.1
+      - L_ACC_SLOW=0.75
+      - L_ACC_FAST=0.75
+      #Used with moveJ
+      - J_SPEED_SLOW=1
+      - J_SPEED_FAST=1
+      - J_ACC_SLOW=4
+      - J_ACC_FAST=4