From bed9ad3cc43b17581fbc0fe835fba868dbcc3083 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 29 Aug 2023 11:17:44 +0200
Subject: [PATCH] update

---
 docker-compose.yaml | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/docker-compose.yaml b/docker-compose.yaml
index 1b99bc6..5cb187f 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -274,4 +274,20 @@ services:
     # Networking
     ports:
       - 8080:8080
+
+  # USB Camera Stream
+  cam:
+    extends: overlay
+    command: >
+      ros2 run ros2_cam_openCV cam_node
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    environment:
+      - ROS_DOMAIN_ID=5
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+    devices:
+      - /dev/video0:/dev/video0
   
\ No newline at end of file