services:
  ros:
    image: raptor:jazzy-local
    build: ./docker
    platform: linux/arm64
    working_dir: /raptor_ws
    init: true
    network_mode: bridge
    cpus: 4
    mem_limit: 4g
    shm_size: 512m
    ports:
      - "127.0.0.1:6080:6080"
    environment:
      ROS_DOMAIN_ID: "42"
      ROS_LOCALHOST_ONLY: "1"
      RAPTOR_PASSIVE_TOES: "${RAPTOR_PASSIVE_TOES:-false}"
      DISPLAY: ":99"
      LIBGL_ALWAYS_SOFTWARE: "1"
    volumes:
      - ./src:/raptor_ws/src:ro
      - raptor_build:/raptor_ws/build
      - raptor_install:/raptor_ws/install
      - raptor_log:/raptor_ws/log

volumes:
  raptor_build:
  raptor_install:
  raptor_log: