I have two docker containers, each running roscore which uses port 11311. Each of the containers has seperate IP address and uses different namespaces when publishing and subscribing. Shouldn't I be able to treat each container as a separate machine? What I want to do is rostopic pub from the host to one of the containers based on namespace.
When I start the containers, I get the following:
$ docker-compose up
Creating mach1 ... error
Creating mach1 ...
ERROR: for mach1 Cannot start service mach1: driver failed programming external
Creating mach2 ... done
cab7aa376623c708c): Bind for 0.0.0.0:11311 failed: port is already allocated
ERROR: for mach1 Cannot start service mach1: driver failed programming external connectivity on endpoint mach1 (9f755a1bd3f1dad40cce6963105a5d7224127dca3e0bb72cab7aa376623c708c): Bind for 0.0.0.0:11311 failed: port is already allocated
ERROR: Encountered errors while bringing up the project.
The YAML for docker-compose is:
version: '3'
services:
mach1:
build:
context: .
dockerfile: ./mach1/Dockerfile
environment:
- "ROS_IP=10.10.0.20"
- "ROS_MASTER_URI=http://10.10.0.20:11311"
image: my-image:v1
ports:
- "11311:11311"
networks:
my_net:
ipv4_address: 10.10.0.20
mach2:
build:
context: .
dockerfile: ./mach2/Dockerfile
environment:
- "ROS_IP=10.10.0.21"
- "ROS_MASTER_URI=http://10.10.0.21:11311"
image: my-image:v1
ports:
- "11311:11311"
networks:
my_net:
ipv4_address: 10.10.0.21
networks:
my_net:
driver: bridge
ipam:
driver: default
config:
- subnet: 10.10.0.0/24
#- gateway: 10.10.0.1
The issue is that you are attempting to map both containers' ports 11311 to 11311 on the host
ports:
- "11311:11311"
Instead, try mapping to different host ports:
ports:
- "11311:11311"
and
ports:
- "11312:11311"