# docker compose -f compose.ros2aria.yaml up
services:
  ros2aria-dev:
   image: delicjusz/pioneer
   network_mode: host
   ipc: host
   environment:
    - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
    - LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/Aria/lib
    - FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml 
    - ROS_DISCOVERY_SERVER=10.104.16.240:11811
   volumes:
    - ./fastdds.xml:/fastdds.xml
   devices:
    - /dev/ttyS0
   command:  ros2 launch pioneer_bringup robot.launch.py namespace:=pioneer${PIONEER_ID}/

  hokuyo:
   image: delicjusz/hokuyo
   network_mode: host
   ipc: host
   environment:
    - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
    - FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml 
    - ROS_DISCOVERY_SERVER=10.104.16.240:11811
   volumes:
    - ./fastdds.xml:/fastdds.xml
   devices:
    # - /dev/hokuyo
    - /dev/ttyACM0
   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/ttyACM0