# Both containers share the host network so ROS 2 DDS discovery works without
# any extra multicast configuration.  Each container is given access only to
# the specific device it needs rather than running in privileged mode.

services:

  robot:
    build:
      context: .
      dockerfile: robot/Dockerfile
      platforms:
        - linux/arm64
    image: raspbot_v2:latest
    network_mode: host
    devices:
      - /dev/i2c-1:/dev/i2c-1
    environment:
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
    restart: unless-stopped

  lidar:
    build:
      context: .
      dockerfile: lidar/Dockerfile
      platforms:
        - linux/amd64
        - linux/arm64
    image: raspbot_v2_lidar:latest
    network_mode: host
    devices:
      - ${LIDAR_PORT:-/dev/ttyUSB0}:${LIDAR_PORT:-/dev/ttyUSB0}
    environment:
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
    command:
      - ros2
      - launch
      - sllidar_ros2
      - sllidar_a1_launch.py
      - serial_port:=${LIDAR_PORT:-/dev/ttyUSB0}
      - frame_id:=${LIDAR_FRAME_ID:-laser}
      - serial_baudrate:=115200
      - angle_compensate:=true
      - scan_qos_depth:=${LIDAR_QOS_DEPTH:-2}
      - scan_qos_reliability:=${LIDAR_QOS_RELIABILITY:-best_effort}
    restart: unless-stopped