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
    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

  # 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
    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

    # 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
      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

    # 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:?}