# docker compose -f compose.navigation2.yaml up

services:
  navigation:
    image: husarion/navigation2:humble-1.1.16-20240927
    network_mode: host
    ipc: host
    restart: unless-stopped
    volumes:
      - ./config/nav2_params.yaml:/nav2_params.yaml
      - ./maps:/maps
      - ./husarion_utils:/husarion_utils
      - ./fastdds.xml:/fastdds.xml
      - ./cyclonedds.xml:/cyclonedds.xml
    environment:
      - CYCLONEDDS_URI=file:///cyclonedds.xml
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - SAVE_MAP_PERIOD=${SAVE_MAP_PERIOD-10}
    command: >
      ros2 launch /husarion_utils/bringup_launch.py
        namespace:=pioneer${PIONEER_ID}
        observation_topic:=scan
        map:=/maps/map.yaml
        params_file:=/nav2_params.yaml
        slam:=${SLAM:-False}
        use_sim_time:=False