# docker compose -f compose.hokuyo.yaml up
services:
  hokuyo:
   image: delicjusz/hokuyo
   network_mode: host
   ipc: host
   restart: unless-stopped
   environment:
    - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    - FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml 
    - CYCLONEDDS_URI=file:///cyclonedds.xml
   volumes:
    - ./fastdds.xml:/fastdds.xml
    - ./cyclonedds.xml:/cyclonedds.xml
   devices:
    - /dev/hokuyo
   command: >
      ros2 run urg_node urg_node_driver  --ros-args -r 
       __ns:=/pioneer${PIONEER_ID} -p
      laser_frame_id:=pioneer${PIONEER_ID}/laser -p 
      serial_port:=/dev/hokuyo