version: '3.8'

services:
  # Main ROS2 container with Nav2, SLAM, and RPLidar
  ros2_nav:
    build:
      context: .
      dockerfile: Dockerfile
    image: autocar:jazzy
    container_name: autocar_ros2
    network_mode: host
    ipc: host
    privileged: true
    
    # RPLidar A1M8 device (uses udev symlink for stability)
    devices:
      - /dev/rplidar:/dev/rplidar
    
    # Add user to dialout group for serial access
    group_add:
      - dialout
    
    volumes:
      - /dev/shm:/dev/shm
      - ./src:/ros2_ws/src
      - ./config:/ros2_ws/config
      - ./maps:/ros2_ws/maps
      - ./.bashrc:/root/.bashrc
    
    environment:
      - ROS_DOMAIN_ID=0
      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
      - ROS_STATIC_PEERS=192.168.8.117
      - RCUTILS_COLORIZED_OUTPUT=1
    
    working_dir: /ros2_ws
    
    stdin_open: true
    tty: true

networks:
  default:
    driver: bridge