From f1a32d3582c8e61a77f8f839bffe7b3d77883bc7 Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Mon, 16 Nov 2015 16:33:29 -0500
Subject: [PATCH] Updating docs to reflect new docker network CLI in v1.9 and
 adding an equivalent docker-compose example.

---
 ros/content.md | 74 ++++++++++++++++++++++++++++++++++++++++++++------
 1 file changed, 65 insertions(+), 9 deletions(-)

diff --git a/ros/content.md b/ros/content.md
index f45c3945d..d943f9829 100644
--- a/ros/content.md
+++ b/ros/content.md
@@ -61,7 +61,6 @@ The ROS runtime "graph" is a peer-to-peer network of processes (potentially dist
 
 ## Deployment example
 
-**NOTE:** This requires the experimental version of Docker for future networking features.  
 If we want our all ROS nodes to easily talk to each other, we'll can use a virtual network to connect the separate containers. In this short example, we'll create a virtual network, spin up a new container running `roscore` advertised as the `master` service on the new network, then spawn a message publisher and subscriber process as services on the same network.
 
 ### Build image
@@ -96,8 +95,8 @@ $ docker build --tag ros:ros-tutorials .
 > To create a container for the ROS master and advertise it's service:
 
 ```console
-$ docker run -it --rm\
-    --publish-service=master.foo \
+$ docker run -it --rm \
+    --net foo \
     --name master \
     ros:ros-tutorials \
     roscore
@@ -106,11 +105,11 @@ $ docker run -it --rm\
 > Now you can see that master is running and is ready manage our other ROS nodes. To add our `talker` node, we'll need to point the relevant environment variable to the master service:
 
 ```console
-$ docker run -it --rm\
-    --publish-service=talker.foo \
+$ docker run -it --rm \
+    --net foo \
+    --name talker \
     --env ROS_HOSTNAME=talker \
     --env ROS_MASTER_URI=http://master:11311 \
-    --name talker \
     ros:ros-tutorials \
     rosrun roscpp_tutorials talker
 ```
@@ -118,11 +117,11 @@ $ docker run -it --rm\
 > Then in another terminal, run the `listener` node similarly:
 
 ```console
-$ docker run -it --rm\
-    --publish-service=listener.foo \
+$ docker run -it --rm \
+    --net foo \
+    --name listener \
     --env ROS_HOSTNAME=listener \
     --env ROS_MASTER_URI=http://master:11311 \
-    --name listener \
     ros:ros-tutorials \
     rosrun roscpp_tutorials listener
 ```
@@ -174,6 +173,63 @@ $ docker stop master talker listener
 $ docker rm master talker listener
 ```
 
+### Compose
+
+Now that you have an appreciation for bootstrapping a distributed ROS example manually, lets try and automate it using [`docker-compose`](https://docs.docker.com/compose/)\.
+
+> Start by making a folder named `rostutorials` and moving the Dockerfile we used earlier inside this directory. Then create a yaml file named `docker-compose.yml` in the same directory and paste the following inside:
+
+```yaml
+master:
+  build: .
+  container_name: master
+  command:
+    - roscore
+
+talker:
+  build: .
+  container_name: talker
+  environment:
+    - "ROS_HOSTNAME=talker"
+    - "ROS_MASTER_URI=http://master:11311"
+  command: rosrun roscpp_tutorials talker
+
+listener:
+  build: .
+  container_name: listener
+  environment:
+    - "ROS_HOSTNAME=listener"
+    - "ROS_MASTER_URI=http://master:11311"
+  command: rosrun roscpp_tutorials listener
+```
+
+> Now from inside the same folder, use docker-copose to launch our ROS nodes and specify that they coexist on their own network:
+
+```console
+$ docker-compose --x-networking up -d
+```
+
+> Notice that a new network named `rostutorials` has now been created, you can inspect it further with:
+
+```console
+$ docker network inspect rostutorials
+```
+
+> We can monitor the logged output of each service, such as the listener node like so:
+
+```console
+$ docker-compose logs listener
+```
+
+> Finally, we can stop and remove all the relevant containers using docker-copose from the same directory:
+
+```console
+$ docker-compose stop
+$ docker-compose rm
+```
+
+> Note: the auto-generated network, `rostutorials`, will persist over the life of the docker engine or until you explicitly remove it using [`docker network rm`](https://docs.docker.com/engine/reference/commandline/network_rm/)\.
+
 # More Resources
 
 [ROS.org](http://www.ros.org/): Main ROS website