Add container that can be run on a remote machine to move the robot

docker-compose.yml

@@ -88,6 +88,37 @@ services:
       - POLL_INTERVAL=${POLL_INTERVAL:-15}
     restart: unless-stopped
 
+  teleop:
+    build:
+      context: teleop
+      dockerfile: Dockerfile
+      platforms:
+        - linux/amd64
+        - linux/arm64
+    image: raspbot_v2_teleop:latest
+    network_mode: host
+    ipc: host
+    stdin_open: true
+    tty: true
+    devices:
+      - ${JOYSTICK_DEV:-/dev/input/js0}:/dev/input/js0
+      - ${JOYSTICK2_DEV:-/dev/input/js1}:/dev/input/js1
+      - ${JOYSTICK_EVENT_DEV:-/dev/input/event0}:/dev/input/event0
+    environment:
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
+      # Joystick config name — must match a file in teleop_twist_joy/config/ (without .config.yaml).
+      # e.g. ps5, ps4, xbox, atk3. Leave unset to use teleop_twist_joy defaults.
+      - JOY_CONFIG=${JOY_CONFIG:-}
+      # FastDDS profile restricts DDS traffic to a single interface.
+      # Override FASTDDS_INTERFACE in .env or on the command line (e.g. eth0, wlan1).
+      - FASTDDS_DEFAULT_PROFILES_FILE=/fastdds_wifi.xml
+      - FASTDDS_INTERFACE=${FASTDDS_INTERFACE:-wlan0}
+    # Not started by default — run explicitly:
+    #   keyboard: docker compose run --rm teleop teleop-keyboard
+    #   joystick: docker compose run --rm teleop teleop-joystick
+    profiles:
+      - teleop
+
   webui:
     build:
       context: webui