compose.pc.yaml

services:

  rviz:
    # image: husarion/rviz2:galactic-22-11-15
    image: husarion/rviz2:galactic
    network_mode: host
    ipc: host
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./config/rosbot.rviz:/root/.rviz2/default.rviz
    environment:
      - DISPLAY=${DISPLAY:?err}
      - LIBGL_ALWAYS_SOFTWARE=1
      - ROS_DISCOVERY_SERVER=${ROSBOT_IP:?err}:11811

  joy2twist:
    image: husarion/joy2twist:humble-22-11-17
    network_mode: host
    ipc: host
    devices:
      - /dev/input
    volumes: 
      - ./config/joy2twist.yaml:/joy2twist.yaml
    environment:
      - ROS_DISCOVERY_SERVER=${ROSBOT_IP:?err}:11811
    command: > 
      ros2 launch joy2twist gamepad_controller.launch.py
        joy2twist_params_file:=/joy2twist.yaml

  mapping:
    image: husarion/slam-toolbox:humble
    container_name: slam-toolbox
    network_mode: host
    ipc: host
    volumes:
      - ./config/slam_toolbox_params.yaml:/slam_params.yaml
      - ./maps:/maps
    environment:
      - ROS_DISCOVERY_SERVER=${ROSBOT_IP:?err}:11811
    command: >
      ros2 launch slam_toolbox online_sync_launch.py
        slam_params_file:=/slam_params.yaml
        use_sim_time:=${USE_SIM_TIME:-False}