From e37ff52bfbaa0b2d9dc8cf15632f545af5aed9d6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Tue, 8 Aug 2023 11:37:57 +0200
Subject: [PATCH] update variables

---
 docker-compose.yaml | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/docker-compose.yaml b/docker-compose.yaml
index 69f4bb1..6c3277b 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -80,6 +80,8 @@ services:
     # Networking and IPC for ROS 2
     network_mode: host
     ipc: host
+    environment:
+    - ROS_DOMAIN_ID=5
 
   # Controller
   controller:
@@ -100,6 +102,8 @@ services:
     privileged: true
     # depends_on:
     #   - robot_state_publisher
+    environment:
+    - ROS_DOMAIN_ID=5
 
   # teleop
   teleop:
@@ -116,6 +120,8 @@ services:
     ipc: host
     # Needed to display graphical applications
     privileged: true
+    environment:
+    - ROS_DOMAIN_ID=5
 
   # lidar
   lidar:
@@ -129,6 +135,8 @@ services:
     ipc: host
     depends_on:
       - robot_state_publisher
+    environment:
+    - ROS_DOMAIN_ID=5
 
   # mapping
   mapping:
@@ -141,6 +149,8 @@ services:
     # Networking and IPC for ROS 2
     network_mode: host
     ipc: host
+    environment:
+    - ROS_DOMAIN_ID=5
 
   # navigation
   navigation:
@@ -153,6 +163,8 @@ services:
     # Networking and IPC for ROS 2
     network_mode: host
     ipc: host
+    environment:
+    - ROS_DOMAIN_ID=5
   
   # bash
   bash:
@@ -189,6 +201,7 @@ services:
       - 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