version: "3.9"

services: # in docker compose, service are definitions of your docker containers

  my_example: # for this example I am using a very simple docker build for reference: hello-world (builds very fast)
    image: hello-world # hello-world image. No prefix means it defaults the image registry to dockerhub
    build:
      context: .
      dockerfile: docker/my_example.Dockerfile # the Dockerfile speciefies the steps taken in the build process.
      target: hello-world # here you specify the build target in the Dockerfile
      x-bake: # Definitions needed for buildx bake. This enhanced docker build system makes things much easier.
        platforms:
          #- linux/arm64 uncomment if arm64 platform is needed (like jetson nano or raspberry pi)
          - linux/amd64
          
  # The rest of this file is an example of how I used docker, docker-compose and buildx bake to fully automate image building for the Segway RMP-lite 220 robot platform.
          
  # Base image containing dependencies for example the robot controller
  base:
    image: ghcr.io/bjoernellens1/ros2_docker_template/ros2:base # This tells docker where to look for the image remotely, so you don't need to build the image on your PC. You might replace this with your own container registry
    build:
      context: .
      dockerfile: docker/Dockerfile # the Dockerfile specifies the steps taken in the build process.
      tags:
        - ghcr.io/bjoernellens1/ros2_docker_template/ros2:base # this will be the output image tag. You might replace this with your own container registry
      args: # specify build arguments. May use them to alter the build process.
        ROS_DISTRO: humble # For instance you could change to foxy here.
      target: base # here you specify the build target in the Dockerfile
      x-bake:
        platforms:
          #- linux/arm64 uncomment if arm64 platform is needed (like jetson nano or raspberry pi)
          - linux/amd64
    # Interactive shell enable
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2 --> uncomment those 2 entries if working with ros2, otherwise you might just delete this.
    #network_mode: host # host networking makes life easier
    #ipc: host # --> faster communications between containers
    
    # Needed to display graphical applications
    #privileged: true # Should only be set to true in development phase. This parameter is not neccessary needed, as it is very much possible to set the right access permissions first to only expose devices to the container I really want to access.
    environment:
      # Allows graphical programs in the container.
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - NVIDIA_DRIVER_CAPABILITIES=all # For Nvidia hardware acceleration (CUDA, ...). This might additionally need some extra tools installed (Nvidia Container Toolkit?)
    volumes:
      # Allows graphical programs in the container.
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
    devices: # all devices you may need inside the docker container (for instance I needed a joystick here)
      - /dev/input/js0:/dev/input/js0 # mapping in docker is always host_path:container_path. Also, correct permissions must be set, when container is not run in privileged mode.

  # Overlay image containing the extended project packages. You may want to separate your basic setup from your project specific setup for instance to improve portability. In my case I separated the essential ROS2 packages from extended usecase packages.
  overlay:
    extends: base # this means you take the base image as reference and run your service on top of that. Since this service ectends base, all defined environment variables and mount points I defined before remain intact, all new definitions can be seen as "overrides".
    image: ghcr.io/bjoernellens1/ros2_docker_template/ros2:overlay # you might replace this with your own container registry
    build:
      context: .
      dockerfile: docker/Dockerfile
      tags:
        - ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
      target: overlay # which section in the Dockerfile should be built.
      x-bake:
        platforms:
          #- linux/arm64 uncomment if arm64 platform is needed (like jetson nano or raspberry pi)
          - linux/amd64
    volumes:
      - .:/repo # mounting this folder into the container under /repo ( that means that files in this repository are directly accessible inside the container --> easy way to save changes made to files.
    command: >
      /bin/bash

  # Additional dependencies for GUI applications: For my configuration, this last (biggest size) image will house the additional GUI tools like rviz2, gazebo, etc. This comes last as this extends the previous images. Won't be needed running on the robot. More suited for visualization, analysis or control on a separate PC.
  guis:
    extends: overlay
    image: ghcr.io/bjoernellens1/ros2_docker_template/ros2:guis
    build:
      context: .
      dockerfile: docker/Dockerfile
      tags:
        - ghcr.io/bjoernellens1/ros2_docker_template/ros2:guis
      target: guis
      x-bake:
        platforms:
          #- linux/arm64 uncomment if arm64 platform is needed (like jetson nano or raspberry pi)
          - linux/amd64
    #entrypoint: /bin/bash
    command: >
      /bin/bash
  
  # The following service definitions do not include build instructions as they do not require additional content in the images. Meaning, if you already have the image locally, everything's fine. If you don't have the image locally, docker compose will download the image from the image registry for you. If docker compose does not have access to the image registry, it will build the corresponding image for you (so better make sur you have access).
  # You can see these service definitions as an easy way to spin up separate containers for launching separate tasks. I use this to control the current operational mode of the robot (mapping or navigation an localization). In the end it's just spinning up launch files in separate containers.
  # Note that service definitions will always inherit the preferences from their "parent" service. However, you can overwrite them.

  # Robot State Publisher
  rsp:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support rsp.launch.py
    environment:
    - ROS_DOMAIN_ID=5

  # Controller
  controller:
    extends: base 
    command: >
      ros2 run segwayrmp SmartCar --ros-args -r cmd_vel:=cmd_vel_out -p serial_full_name:=/dev/ttyUSB0
    devices:
      - /dev/ttyUSB0:/dev/ttyUSB0
    environment:
    - ROS_DOMAIN_ID=5
    restart: unless-stopped

  # teleop
  teleop:
    extends: base 
    command: >
      ros2 launch rmp220_teleop robot_joystick.launch.py 
    devices:
      - /dev/input/js0:/dev/input/js0
    environment:
    - ROS_DOMAIN_ID=5

  # lidar
  lidar:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support robot_lidar.launch.py serial_port:=/dev/ttyUSB0
    environment:
    - ROS_DOMAIN_ID=5
    devices:
      - /dev/ttyUSB1:/dev/ttyUSB1
      - /dev/ttyUSB0:/dev/ttyUSB0

  # localiaztion by ekf node
  ekf:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support robot_localization.launch.py
    environment:
    - ROS_DOMAIN_ID=5

  # mapping
  mapping:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support robot_mapping.launch.py
    environment:
    - ROS_DOMAIN_ID=5

  # slam_localization
  localization:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support robot_mapping_localization.launch.py map_file_name:=/repo/maps/map.yaml
    environment:
    - ROS_DOMAIN_ID=5

  # amcl_localization
  amcl:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support robot_amcl.launch.py map:=/repo/maps/map.yaml
    environment:
    - ROS_DOMAIN_ID=5

  # navigation
  navigation:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support robot_navigation.launch.py
      map_subscribe_transient_local:=true
    environment:
    - ROS_DOMAIN_ID=5
  
  # bash
  bash:
    extends: overlay
    command: >
      /bin/bash
    environment:
    - ROS_DOMAIN_ID=5

  # rviz2
  rviz2:
    extends: guis
    command: >
      ros2 launch cps_rmp220_support rviz.launch.py
    environment:
    - ROS_DOMAIN_ID=5