version: "3.9"
services:
  # Base image containing dependencies.
  base:
    image: bot_mini:base
    build:
      context: .
      dockerfile: docker/Dockerfile
      args:
        ROS_DISTRO: humble
      target: base
    # Interactive shell
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2
    network_mode: host
    ipc: host
    # Needed to display graphical applications
    privileged: true
    environment:
      # Allows graphical programs in the container.
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - NVIDIA_DRIVER_CAPABILITIES=all
    volumes:
      # Allows graphical programs in the container.
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority

  # Overlay image containing the example source code.
  overlay:
    extends: base
    image: bot_mini:overlay
    build:
      context: .
      dockerfile: docker/Dockerfile
      target: overlay

  # Controller and teleop
  controller:
    extends: overlay
    command: >
      /controller_startup.sh
    devices:
      - /dev/ttyUSB0:/dev/ttyUSB0
      - /dev/ttyACM0:/dev/ttyACM0
      - /dev/input/js0:/dev/input/js0
    # Interactive shell
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2
    network_mode: host
    ipc: host
    # Needed to display graphical applications
    privileged: true

  # Localization
  localization:
    extends: overlay
    command: >
      /localization_startup.sh
    devices:
      - /dev/ttyUSB0:/dev/ttyUSB0
      - /dev/ttyACM0:/dev/ttyACM0
      - /dev/input/js0:/dev/input/js0
    # Interactive shell
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2
    network_mode: host
    ipc: host
    # Needed to display graphical applications
    privileged: true

  #   # mapping
  #   mapping:
  #     extends: overlay
  #     command: >
  #       ros2 launch bot_mini_bringup robot_mapper.launch.py
  #     devices:
  #       - /dev/ttyUSB0:/dev/ttyUSB0
  #       - /dev/ttyACM0:/dev/ttyACM0
  #       - /dev/input/js0:/dev/input/js0
  #     # Interactive shell
  #     stdin_open: true
  #     tty: true
  #     # Networking and IPC for ROS 2
  #     network_mode: host
  #     ipc: host
  #     # Needed to display graphical applications
  #     privileged: true

    # # navigation
    # navigation:
    #   extends: overlay
    #   command: >
    #     ros2 launch bot_mini_bringup robot_navigation.launch.py
    #     map_subscribe_transient_local:=true
    #   devices:
    #     - /dev/ttyUSB0:/dev/ttyUSB0
    #     - /dev/ttyACM0:/dev/ttyACM0
    #     - /dev/input/js0:/dev/input/js0
    #   # Interactive shell
    #   stdin_open: true
    #   tty: true
    #   # Networking and IPC for ROS 2
    #   network_mode: host
    #   ipc: host
    #   # Needed to display graphical applications
    #   privileged: true
    #   environment:
    #     # Allows graphical programs in the container.
    #     - DISPLAY=${DISPLAY}
    #     - QT_X11_NO_MITSHM=1
    #     - NVIDIA_DRIVER_CAPABILITIES=all
    #   volumes:
    #     # Allows graphical programs in the container.
    #     - /tmp/.X11-unix:/tmp/.X11-unix:rw
    #     - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority

    # # Behavior demo using Python and py_trees
    # demo-behavior-py:
    #   extends: overlay
    #   command: >
    #     ros2 launch tb3_autonomy tb3_demo_behavior_py.launch.py
    #     tree_type:=${BT_TYPE:?}
    #     enable_vision:=${ENABLE_VISION:?}
    #     target_color:=${TARGET_COLOR:?}

    # # Behavior demo using C++ and BehaviorTree.CPP
    # demo-behavior-cpp:
    #   extends: overlay
    #   command: >
    #     ros2 launch tb3_autonomy tb3_demo_behavior_cpp.launch.py
    #     tree_type:=${BT_TYPE:?}
    #     enable_vision:=${ENABLE_VISION:?}
    #     target_color:=${TARGET_COLOR:?}