version: "3"
services:
  TerraSLAM:
    image: terraslam:latest
    volumes:
      #full dev
      - /dev:/dev:rw
      #full media
      - /media:/media:rw
      #Time
      - /etc/timezone:/etc/timezone:rw
      - /etc/localtime:/etc/localtime:rw
      #ros-workspaces
      - ./container_root/:/root/
      - ./orb_slam3_ros2_wrapper/:/root/colcon_ws/src/orb_slam3_ros2_wrapper/
      - ./slam_msgs/:/root/colcon_ws/src/slam_msgs/
      # - ./ORB_SLAM3/:/home/orb/ORB_SLAM3/
      # X11 forwarding
      - ${XAUTHORITY}:/tmp/.Xauthority:ro
    privileged: true
    network_mode: host
    ipc: host
    stdin_open: true
    tty: true
    environment:
      - DISPLAY
      - XAUTHORITY=/tmp/.Xauthority
    entrypoint: /bin/bash
    ports:
      - "11223:22"
    container_name: TerraSLAM