Dart Services Compose

Docker Compose setup for running Dart robot simulator and build services.

This setup works with any environment that supports docker compose (e.g. Docker Desktop, Rancher Desktop, OrbStack, Podman Desktop).

Prerequisites

Install one of the following:

Docker Desktop (paid for commercial use)

• Windows: winget install Docker.DockerDesktop
• Mac: brew install --cask docker

Rancher Desktop (free)

• Windows: winget install suse.RancherDesktop
• Mac: brew install --cask rancher
  • Select dockerd (moby) as the container runtime after installation → Guide

Mac + Rancher Desktop: The Docker socket path differs from the default. Add the following to ~/.zshrc to apply permanently:

export DOCKER_HOST=unix://$HOME/.rd/docker.sock

Quick Start

# 1. Clone
git clone https://github.com/DoosanRobotics/dart-services-compose.git
cd dart-services-compose

# 2. Configure environment
cp .env.example .env

# 3. Start simulator + build modules
docker compose --profile build up -d

Configuration

Edit .env to customize:

Variable	Default	Description
SDK_VERSION	sdk5	SDK version (sdk2 ~ sdk5)
ROBOT_MODEL	M1013	Robot model (see options below)
SIMULATOR_CPU	4	CPU cores allocated to simulator
SIMULATOR_MEMORY	2g	Memory allocated to simulator

Robot Models

sdk2 and above: M0609, M0617, M1013, M1509, A0509, A0912, H2017, H2515, E0509

sdk4 and above: P3020

Usage

# Start simulator + build modules
docker compose --profile build up -d

# Start simulator only:
#docker compose up -d

# Stop
docker compose --profile build down

Simulator data is automatically created under the directory where you run docker compose up:

data/
└── sdk5/
    └── M1013/

Update

docker compose --profile build pull
docker compose --profile build up -d

Images

Images are hosted on GitHub Container Registry (GHCR) and pulled automatically on docker compose up.

• ghcr.io/doosanrobotics/simulator
• ghcr.io/doosanrobotics/build-module-fw
• ghcr.io/doosanrobotics/build-module-ui

License

Copyright © Doosan Robotics. All rights reserved.

This repository is provided for personal, non-commercial use only. Modification, redistribution, or commercial use of any part of this repository is not permitted without prior written consent from Doosan Robotics.