# Dev container — interactive ROS desktop environment.
# Launch with: docker compose -f docker-compose.dev.yml run --rm dev
#
# Requires X11 forwarding to be allowed on the host:
#   xhost +local:docker

services:
  dev:
    image: osrf/ros:kilted-desktop-full
    network_mode: host
    ipc: host
    stdin_open: true
    tty: true
    environment:
      - DISPLAY
      - QT_X11_NO_MITSHM=1
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
      - FASTDDS_BUILTIN_TRANSPORTS=LARGE_DATA
      # Restrict DDS traffic to a single network interface (same profile as teleop).
      # Note: the XML profile sets useBuiltinTransports=false, which overrides
      # FASTDDS_BUILTIN_TRANSPORTS above. Remove the two lines below if you need
      # large-data transport (e.g. for local camera streaming without interface binding).
      - FASTDDS_DEFAULT_PROFILES_FILE=/fastdds_wifi.xml
      - FASTDDS_INTERFACE=${FASTDDS_INTERFACE:-wlan0}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./teleop/src/fastdds_wifi.xml:/fastdds_wifi.xml:ro
    cap_add:
      - SYS_PTRACE
    devices:
      - /dev/dri:/dev/dri
    privileged: true