# docker compose -f compose.ros2aria.yaml up
services:
  ros2aria-dev:
   image: delicjusz/pioneer:humble-18012024
   network_mode: host
   ipc: host
   restart: unless-stopped
   environment:
    - LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/Aria/lib
    - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    - FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml 
    - CYCLONEDDS_URI=file:///cyclonedds.xml
   volumes:
    - ./fastdds.xml:/fastdds.xml
    - ./cyclonedds.xml:/cyclonedds.xml
   devices:
    - /dev/ttyS0
   command:  ros2 launch pioneer_bringup robot.launch.py namespace:=pioneer${PIONEER_ID}/