version: "3.9"

services:
  # Base image containing dependencies.
  base:
    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:base
    build:
      context: .
      dockerfile: docker/Dockerfile
      tags:
        - ghcr.io/bjoernellens1/ros2_rmp/rmp:base
      args:
        ROS_DISTRO: humble
      target: base
      x-bake:
        platforms:
          - linux/arm64
          - linux/amd64
    # Interactive shell
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2
    network_mode: host
    ipc: host
    # Needed to display graphical applications
    environment:
      # Allows graphical programs in the container.
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - NVIDIA_DRIVER_CAPABILITIES=all
      # set correct ros2 parameters: domain id and rmw implementation
      - ROS_DOMAIN_ID=5
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - CYCLONEDDS_URI=file:///cyclonedds.xml
    volumes:
      # Allows graphical programs in the container.
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
      - ./config/entrypoint.sh:/entrypoint.sh
      - ./config/cyclonedds.xml:/cyclonedds.xml

    # networks: # not using bridging anymore, instead try using all services on macvlan? let's see... shoudl word for now. Bridging does definitely not work because multicast is not supported here.
    #   rmp:
    #     #ipv4_address: 192.168.0.101 #actually don't need to set ips. they are set automatically by docker-compose. SHould be inherited by all child services.

  # Overlay image containing the project specific source code.
  overlay:
    extends: base
    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
          - linux/amd64
    volumes:
      - .:/repo
    command: >
      /bin/bash

  # Additional dependencies for GUI applications
  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
          - linux/amd64
    command: >
      /bin/bash
    devices:
      - /dev/dri:/dev/dri

  # Robot State Publisher
  rsp:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support rsp.launch.py

  # Controller
  controller:
    extends: base
    command: >
      ros2 run segwayrmp SmartCar --ros-args -r cmd_vel:=cmd_vel_out -p serial_full_name:=/dev/segway
    devices:
      - /dev/segway:/dev/ttyUSB0
      #- /dev/ttyUSB0:/dev/ttyUSB0
    privileged: true

  # teleop
  teleop:
    extends: base 
    depends_on:
      - controller
    command: >
      ros2 launch rmp220_teleop robot_joystick.launch.py 
    devices:
      - /dev/input/js0:/dev/input/js0
      #- /dev/input/by-id/usb-Logitech_Wireless_Gamepad_F710_56679674-joystick:/dev/input/by-id/usb-Logitech_Wireless_Gamepad_F710_56679674-joystick
    privileged: true

  # lidar
  lidar:
    extends: overlay
    depends_on:
      - lidar_filter
    command: >
      ros2 launch cps_rmp220_support robot_lidar.launch.py serial_port:=/dev/rplidarA1
    devices:
      - /dev/rplidarA1:/dev/rplidarA1 #udevrules needed for this to work:
        #       SUBSYSTEM=="tty", ATTRS{serial}=="0001", SYMLINK+="segway"
        # SUBSYSTEM=="tty", ATTRS{serial}=="3453995662b3af4f81f4a69eba5f3f29", SYMLINK+="rplidarA1"

  # Lidar filtering node.
  lidar_filter:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support robot_scan_filter.launch.py

  # localiaztion by ekf node
  ekf:
    extends: overlay
    depends_on:
      - controller
      - rsp
    command: >
      ros2 launch cps_rmp220_support robot_localization.launch.py

  # mapping
  mapping:
    extends: overlay
    depends_on:
      - ekf
      - rsp
      - lidar
    command: >
      ros2 launch cps_rmp220_support robot_mapping.launch.py

  # slam-toolbox-localization
  localization:
    extends: overlay
    depends_on:
      - ekf
      - rsp
      - lidar
    command: >
      ros2 launch cps_rmp220_support robot_mapping_localization.launch.py map_file_name:=/repo/maps/map.yaml

  # amcl_localization
  amcl:
    extends: overlay
    depends_on:
      - ekf
      - rsp
      - lidar
    command: >
      ros2 launch cps_rmp220_support robot_amcl.launch.py map:=/repo/maps/map.yaml

  # navigation
  navigation:
    extends: overlay
    depends_on:
      - controller
      - teleop
      - rsp
      - lidar
      - ekf
      - oakd
    command: >
      ros2 launch nav2_bringup bringup_launch.py slam:=True map:=/repo/maps/map.yaml use_sim_time:=False use_composition:=True params_file:=/repo/config/nav2_params.yaml
  #maps/map_openlabday.yaml
  # bash
  bash:
    extends: overlay
    command: >
      /bin/bash

  # rviz2
  rviz2:
    #extends: guis
    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
    command: >
      ros2 launch cps_rmp220_support rviz.launch.py
    # Needed to display graphical applications
    privileged: true # really necessary?
    environment:
      # Allows graphical programs in the container.
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - NVIDIA_DRIVER_CAPABILITIES=all
      - ROS_DOMAIN_ID=5
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    volumes:
      # Allows graphical programs in the container.
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
    
  # Foxglove Studio Bridge
  foxglove_bridge:
    extends: overlay
    command: >
      ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765

  # Foxglove Studio Webserver
  foxglove:
    image: ghcr.io/foxglove/studio:latest
    stdin_open: true
    tty: true
    # Networking
    networks:
      - caddy_network
    ports:
      - 8080:8080
    depends_on:
      - foxglove_bridge
    volumes:
      - ./config/foxglove/default.json:/foxglove/default-layout.json

  # USB Camera Stream
  cam:
    extends: overlay
    command: >
      ros2 run ros2_cam_openCV cam_node
    devices:
      - /dev/video0:/dev/video0


  # ROS2 Frontier exploration
  explorer:
    extends: overlay
    depends_on:
      - controller
      - teleop
      - rsp
      - lidar
      - ekf
      - navigation
    command: >
      ros2 launch cps_rmp220_support robot_exploration.launch.py

  ### Images for ROS1 Interactions
  #ROS1 Bridge
  # ros1bridge:
  #   image: ghcr.io/bjoernellens1/ros2_rmp/ros1bridge
  #   command: >
  #     ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics
  #   build:
  #     context: .
  #     dockerfile: docker/Dockerfile
  #     tags:
  #       - ghcr.io/bjoernellens1/ros2_rmp/ros1bridge
  #     args:
  #       ROS_DISTRO: humble
  #     target: bridge
  #     x-bake:
  #       platforms:
  #         #- linux/arm64
  #         - linux/amd64
  #     # Networking and IPC for ROS 2
  #   network_mode: host
  #   ipc: host
  #   environment:
  #     - ROS_DOMAIN_ID=5
  #     - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
  #     - ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here
  
  #ROS1 roscore
  # roscore:
  #   command: >
  #     roscore
  #   extends: ros1bridge
  #   network_mode: host
  #   ipc: host
  #   environment:
  #     - ROS_DOMAIN_ID=5
  #     - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
  #     - ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here

## Configure on ROS1 Hosts
# seggy 192.168.0.100
#     locally running ros-package: control1 
#          subscribing topic2
#          publishing  topic1                 

# robot2 192.168.x.x
#     locally running ros-package: control2
#          subscribing topic1
#          publishing  topic2
# As we need one ros-master to control the communication, we choose 192.168.1.1 as master. Therefore we execute locally on robot 1:

# export ROS_MASTER_URI=http://192.168.0.100:11311 # or localhost?
# export ROS_HOSTNAME=192.168.0.100
# export ROS_IP=192.168.0.100   
# roscore

# In order to connect to the ROS-master, we execute locally on robot2:

# export ROS_MASTER_URI=http://192.1.1.1:11311            
# export ROS_IP=192.168.1.2                               
# export ROS_HOSTNAME=192.168.1.2

  # ROS2 oak-d-lite camera
  oakd:
    extends: overlay
    command: >
      ros2 launch depthai_examples stereo.launch.py
    #devices:
      #- /dev/oakd-lite:/dev/oakd-lite # need corresponding udevrules for this to work:
# SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666", SYMLINK+="oakd-lite"
      #- /dev/:/dev/ 
    device_cgroup_rules:
      - 'c 189:* rmw'
    volumes:
      - /dev/bus/usb:/dev/bus/usb

  # for testing the oak-d-lite camera -> works now with cgroup rules
  depthai:
    image: luxonis/depthai:latest
    command: >
      python3 /depthai/depthai_demo.py
    stdin_open: true
    tty: true
    device_cgroup_rules:
      - 'c 189:* rmw'
    volumes:
      - /dev/bus/usb:/dev/bus/usb
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - NVIDIA_DRIVER_CAPABILITIES=all

################################################################################################################################
# Core Services for Web Management                                                                                             #
################################################################################################################################
  caddy:
    image: caddy:latest
    networks:
      - caddy_network
    extra_hosts:
      - "host.docker.internal:host-gateway"
    ports:
      - "80:80"
      - "443:443"
    volumes:
      - ./config/caddy/Caddyfile:/etc/caddy/Caddyfile
      - ./config/caddy/content:/usr/share/caddy/
    restart: always
    depends_on:
      - foxglove
      - olivetin
  roscore:
    image: husarion/ros1-bridge:foxy-0.9.6-20230327-stable
    command: |
      bash -c "source /opt/ros/noetic/setup.bash && roscore"
    network_mode: host
    environment:
      - ROS_DOMAIN_ID=5
    restart: always
  ros1bridge:
    image: husarion/ros1-bridge:foxy-0.9.6-20230327-stable
    command: |
      ros2 run ros1_bridge dynamic_bridge
    network_mode: host
    ipc: host
    environment:
      - ROS_DOMAIN_ID=5
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    restart: always
  webui-joystick:
    image: husarion/webui-ros-joystick:noetic-0.0.1-20230510-stable
    network_mode: host
    # networks:
    #   - caddy_network
    # ports:
    #   - 8000:8000
    ipc: host
    environment:
      - ROS_DOMAIN_ID=5
    restart: always
    depends_on:
      - ros1bridge
    command: roslaunch webui-ros-joystick webui.launch
  olivetin:
    container_name: olivetin
    image: jamesread/olivetin
    #image: ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
    build:
      context: .
      dockerfile: docker/Dockerfile
      tags:
        - ghcr.io/bjoernellens1/cps_bot_mini_ws/olivetin
      target: olivetin
      x-bake:
        platforms:
          #- linux/arm64
          - linux/amd64
    user: root
    privileged: true
    volumes:
      - ./config/olivetin/:/config/ # here is config.yaml and icons located
      - ./config/olivetin/icons:/var/www/olivetin/customIcons
      - .:/repo
      - /var/run/docker.sock:/var/run/docker.sock
      
      # - /var/lib/docker:/var/lib/docker
      - ~/.ssh/id_rsa:/root/.ssh/id_rsa
    networks:
      - caddy_network
    ports:
      - "1337:1337"
    restart: always

################################################################################################################################
# Docker related extra stuff                                                                                                   #
################################################################################################################################
networks:
  caddy_network:
    driver: bridge