compose.yaml

x-common-config:
  &common-config
  network_mode: host
  ipc: host
  pid: host # ?
  restart: unless-stopped

x-dds-envs:
  &dds-envs
  env_file: .env.dds

services:
  reverse-proxy:
    image: caddy:2.6.2-alpine
    restart: unless-stopped
    network_mode: host
    volumes:
      - ./Caddyfile:/etc/caddy/Caddyfile

  foxglove-ds:
    image: husarion/foxglove-bridge:humble-0.7.4-20240320
    <<:
      - *common-config
      - *dds-envs
    command: ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8766 address:=127.0.0.1 capabilities:=[clientPublish,connectionGraph,assets,services]

  teleop_twist_joy:
    image: husarion/teleop-twist-joy:humble-2.4.5-20240318
    <<:
      - *common-config
      - *dds-envs
    command: ros2 run teleop_twist_joy teleop_node --ros-args --params-file /teleop_twist_joy_f710_params.yaml

  pth_ouster_tf:
    image: husarion/ouster:humble-0.10.2-20230831
    <<:
      - *common-config
      - *dds-envs
    command: ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_link os_sensor