version: "3.9"

services: # in docker compose, service are definitions of your docker containers
  # Base image containing dependencies for example the robot controller
  base:
    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:base # this will be the output image tag
    build:
      context: .
      dockerfile: docker/Dockerfile # the Dockerfilespeciefies the steps taken in the build process.
      args:
        ROS_DISTRO: humble
      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 
    network_mode: host # host networking makes life easier
    ipc: host # --> faster communications between containers
    
    # Needed to display graphical applications
    privileged: true # also needed for hardware access like joystick, cameras...
    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
    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

  # Overlay image containing the extended project packages. For instance Mapping, Navigation which may run on a separate PC, so I divided that from the base image.
  overlay:
    extends: base # this means you take the base image as reference and run your service on top of that
    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
    build:
      context: .
      dockerfile: docker/Dockerfile
      tags:
        - ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
      target: overlay
      x-bake:
        platforms:
          #- linux/arm64 uncomment if arm64 platform is needed (like jetson nano or raspberry pi)
          - linux/amd64
    volumes:
      - .:/repo
    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_rmp/rmp:guis
    build:
      context: .
      dockerfile: docker/Dockerfile
      tags:
        - ghcr.io/bjoernellens1/ros2_rmp/rmp: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.

  # Robot State Publisher
  rsp:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support rsp.launch.py
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2
    network_mode: host
    ipc: host
    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
    # 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
    # depends_on:
    #   - robot_state_publisher
    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
    # 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:
    - ROS_DOMAIN_ID=5

  # lidar
  lidar:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support robot_lidar.launch.py serial_port:=/dev/ttyUSB0

    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2
    network_mode: host
    ipc: host
    # depends_on:
    #   - robot_state_publisher
    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
    # Interactive shell
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2
    network_mode: host
    ipc: host
    environment:
    - ROS_DOMAIN_ID=5

  # mapping
  mapping:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support robot_mapping.launch.py
    # Interactive shell
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2
    network_mode: host
    ipc: host
    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
    # Interactive shell
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2
    network_mode: host
    ipc: host
    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
    # Interactive shell
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2
    network_mode: host
    ipc: host
    environment:
    - ROS_DOMAIN_ID=5

  # navigation
  navigation:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support robot_navigation.launch.py
      map_subscribe_transient_local:=true
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2
    network_mode: host
    ipc: host
    environment:
    - ROS_DOMAIN_ID=5
  
  # bash
  bash:
    extends: overlay
    command: >
      /bin/bash
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2
    network_mode: host
    ipc: host
    devices:
      - /dev/input/js0:/dev/input/js0
    environment:
    - ROS_DOMAIN_ID=5

  # rviz2
  rviz2:
    extends: guis
    # command: >
    #   ros2 launch cps_rmp220_support robot_rviz2.launch.py
    command: >
      ros2 launch cps_rmp220_support rviz.launch.py
    # 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
      - ROS_DOMAIN_ID=5
    volumes:
      # Allows graphical programs in the container.
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority