compose.pc.yaml

x-common-config:
  &common-config
  network_mode: host
  ipc: host
  restart: unless-stopped

x-dds-envs:
  &dds-envs
  env_file: .env.dds

services:

  ros2router:
    image: husarnet/ros2router:1.6.3
    <<: *common-config
    environment:
      - USER
      # ==========================
      # envs for Husarnet setup
      # ==========================
      - ROS_DISCOVERY_SERVER=${ROBOT_NAMESPACE}:11811
      - DISCOVERY_SERVER_ID=10 # need to be different as ros2router on ROSbot
      # ==========================
      # envs for LAN setup
      # ==========================
      # - ROS_LOCALHOST_ONLY=0
      # - HUSARNET_PARTICIPANT_ENABLED=false

  rviz:
    image: husarion/rviz2:humble-11.2.9-20240111
    <<:
      - *common-config
      - *dds-envs
    runtime: ${DOCKER_RUNTIME:-runc}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./params/default.rviz:/default.rviz
      - ./rviz.launch.py:/rviz.launch.py
    environment:
      - DISPLAY=${DISPLAY:?err}
      - LIBGL_ALWAYS_SOFTWARE=${LIBGL_ALWAYS_SOFTWARE:-1}
      - NVIDIA_VISIBLE_DEVICES=all # if LIBGL_ALWAYS_SOFTWARE=1 this env var is ignored
      - NVIDIA_DRIVER_CAPABILITIES=all # if LIBGL_ALWAYS_SOFTWARE=1 this env var is ignored
      - ROBOT_NAMESPACE=${ROBOT_NAMESPACE:-robot}
    command: ros2 launch /rviz.launch.py

  joy2twist:
    image: husarion/joy2twist:humble-1.0.0-20240105
    <<:
      - *common-config
      - *dds-envs
    devices:
      - /dev/input
    volumes:
      - ./params/joy2twist.yaml:/params.yaml
    command: >
      ros2 launch joy2twist gamepad_controller.launch.py
        joy2twist_params_file:=/params.yaml
        namespace:=${ROBOT_NAMESPACE}