# docker compose -f compose.foxglove.master.yaml up

services:
  restrictions-republisher:
    image: delicjusz/rosbridge
    network_mode: host
    ipc: host
    restart: on-failure
    environment:
      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
      - FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml 
    volumes:
      - ./fastdds.xml:/fastdds.xml
      - ./rescrictions_republisher.py:/rescrictions_republisher.py
    command: >
     bash -c "source /ros2_ws/install/setup.bash && python3 /rescrictions_republisher.py"

  rosbridge:
    image: delicjusz/rosbridge
    network_mode: host
    ipc: host
    restart: on-failure
    environment:
      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
      - FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml 
    volumes:
      - ./fastdds.xml:/fastdds.xml
    command: >
     bash -c "source /ros2_ws/install/setup.bash && ros2 launch rosbridge_server rosbridge_websocket_launch.xml"

  foxglove-master:
    image: husarion/foxglove:humble-1.39.1-20230220
    ports:
      - 5050:5050
    volumes:
      - ./config/master_layout.json:/src/FoxgloveDefaultLayout.json
    environment:
      - FOXGLOVE_PORT=5050
      - ROSBRIDGE_PORT=9090