# docker compose -f compose.decawave.yaml up
services:
  decawave:
   image: delicjusz/decawave
   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/decawave
   command:  ros2 launch decawave_driver decawave.launch.py namespace:=pioneer${PIONEER_ID}/