compose.rosbot.yaml

services:

  discovery-server:
    image: ros:humble-ros-core
    network_mode: host
    ipc: host
    command: fast-discovery-server -i 0

  rplidar:
    image: husarion/rplidar:humble
    network_mode: host
    ipc: host
    devices:
      - ${LIDAR_SERIAL:?err}:/dev/ttyUSB0
    environment:
      - ROS_DISCOVERY_SERVER=127.0.0.1:11811
    command: ros2 launch sllidar_ros2 sllidar_launch.py serial_baudrate:=${LIDAR_BAUDRATE:-115200}

  rosbot:
    image: husarion/rosbot:humble
    network_mode: host
    ipc: host
    # In rosbot service superclient configuration is necessary, because ros2 controllers spawner waits for controller_manager services
    # and they can't be listed in regular client configuration 
    volumes:
      - ./superclient-dds.xml:/dds-config.xml
    environment:
      - ROS_DISCOVERY_SERVER=127.0.0.1:11811
      - FASTRTPS_DEFAULT_PROFILES_FILE=/dds-config.xml
    command: ros2 launch rosbot_bringup rosbot_bringup.launch.py
  
  microros:
    image: microros/micro-ros-agent:humble
    network_mode: host
    ipc: host
    devices:
      - ${SERIAL_PORT:?err}
    volumes:
      - ./micro-ros_entrypoint.sh:/micro-ros_entrypoint.sh
    environment:
      - ROS_DISCOVERY_SERVER=127.0.0.1:11811
    command: serial -D $SERIAL_PORT serial -b 576000 # -v6