x-net-config:
  &net-config
  network_mode: host
  ipc: host

services:
  foxglove:
    image: husarion/foxglove:humble-1.39.1-20230220
    ports:
      - 8080:8080
    volumes:
      - ./config/rosbot_sensors_foxglove.json:/src/FoxgloveDefaultLayout.json
    environment:
      - FOXGLOVE_PORT=8080
      - ROSBRIDGE_PORT=9090

  rosbridge:
    image: husarion/rosbridge:humble-1.3.1-20230220
    <<: *net-config
    ports:
      - 9090:9090
    environment:
      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
      - FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml 
    volumes:
      - ./fastdds.xml:/fastdds.xml
    command: ros2 launch rosbridge_server rosbridge_websocket_launch.xml