docker-compose-turtlesim.yml

version: '2'

networks:
  ros:
    driver: bridge

services:
  ros-master:
    image: dukeev/ros
    command: stdbuf -o L roscore
    networks:
      - ros
    restart: always

  turtle-sim:
    image: dukeev/ros:turtlesim
    depends_on:
      - ros-master
    environment:
      - "ROS_MASTER_URI=http://ros-master:11311"
      - "ROS_HOSTNAME=ros_docker_turtle-sim_1"
      - "DISPLAY=10.197.164.249:0"
    networks:
      - ros
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
    stdin_open: true
    tty: true

  turtle-sim-teleop:
    image: dukeev/ros:turtlesim
    depends_on:
      - ros-master
      - turtle-sim
    environment:
      - "ROS_MASTER_URI=http://ros-master:11311"
      - "ROS_HOSTNAME=ros_docker_turtle-sim-teleop_1"
      - "ROS_PACKAGE_PATH=/catkin_ws/build"
    networks:
      - ros
    volumes:
      - ./src:/root/catkin_ws/src
    stdin_open: true
    tty: true