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

  # Robot State Publisher
  robot_state_publisher:
    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

  # Controller and teleop
  controller:
    extends: overlay 
    command: >
      ros2 launch cps_rmp220_support robot_controller.launch.py
    devices:
      - /dev/ttyUSB0:/dev/ttyUSB0
      - /dev/ttyACM0:/dev/ttyACM0
      - /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
    depends_on:
      - robot_state_publisher

  # lidar
  lidar:
    extends: overlay
    command: >
      ros2 launch cps_rmp220_support robot_lidar.launch.py
    stdin_open: true
    tty: true
    # Networking and IPC for ROS 2
    network_mode: host
    ipc: host
    depends_on:
      - robot_state_publisher

  # Localization
  localization:
    extends: overlay
    command: >
      ros2 launch bot_mini_bringup robot_localization.launch.py
    devices:
      - /dev/ttyUSB0:/dev/ttyUSB0
      - /dev/ttyUSB1:/dev/ttyUSB1
      - /dev/ttyACM0:/dev/ttyACM0
      - /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
    depends_on:
      - controller

  # 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
    depends_on:
      - localization

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

    # # Behavior demo using Python and py_trees
    # demo-behavior-py:
    #   extends: overlay
    #   command: >
    #     ros2 launch tb3_autonomy tb3_demo_behavior_py.launch.py
    #     tree_type:=${BT_TYPE:?}
    #     enable_vision:=${ENABLE_VISION:?}
    #     target_color:=${TARGET_COLOR:?}

    # # Behavior demo using C++ and BehaviorTree.CPP
    # demo-behavior-cpp:
    #   extends: overlay
    #   command: >
    #     ros2 launch tb3_autonomy tb3_demo_behavior_cpp.launch.py
    #     tree_type:=${BT_TYPE:?}
    #     enable_vision:=${ENABLE_VISION:?}
    #     target_color:=${TARGET_COLOR:?}