version: "3.9"

services:
  # Base image containing dependencies.
  base:
    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:base
    build:
      context: .
      dockerfile: docker/Dockerfile
      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
    #privileged: true
    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

  # 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
    #entrypoint: /bin/bash
    command: >
      /bin/bash

  # 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
    profiles:
      - robot

  # 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/segway
      - /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: false
    # depends_on:
    #   - robot_state_publisher
    environment:
    - ROS_DOMAIN_ID=5
    restart: unless-stopped
    profiles:
      - robot

  # 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
    profiles:
      - robot

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


  # 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-toolbox-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
    profiles:
      - robot

  # 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
    profiles:
      - robot
  
  # bash
  bash:
    extends: overlay
    command: >
      /bin/bash
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2
    network_mode: host
    ipc: host
    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

  # Foxglove Studio Bridge
  foxglove_bridge:
    extends: overlay
    command: >
      ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
    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
    profiles:
      - robot
    volumes:
      - ./foxglove/default.json:/foxglove/default-layout.json

  # Foxglove Studio Webserver
  foxglove_webserver:
    image: ghcr.io/foxglove/studio:latest
    stdin_open: true
    tty: true
    # Networking
    ports:
      - 8080:8080
    profiles:
      - robot

  # 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