services:
  openamr:
    build:
      context: .
      dockerfile: Dockerfile
    image: openamr-platform:latest
    container_name: openamr_dev

    # Pass through the host display so Gazebo and RViz render on screen
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - NVIDIA_DRIVER_CAPABILITIES=all         # only active when the nvidia runtime is used
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp  # required — FastDDS has a Python crash bug with Nav2 actions
    volumes:
      # X11 socket — needed for GUI windows (Gazebo, RViz)
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      # Mount source so you can edit on the host and rebuild inside the container
      - ./ros2/src:/ros2_ws/src:rw
      # Persist colcon build & install across container restarts
      - openamr_build:/ros2_ws/build
      - openamr_install:/ros2_ws/install

    network_mode: host           # simplest option for ROS 2 DDS discovery
    ipc: host                    # shared memory transport (CycloneDDS / FastDDS)
    privileged: false
    stdin_open: true
    tty: true

    command: bash

  # Uncomment the block below if you have an NVIDIA GPU.
  # Requires the nvidia-container-toolkit package on the host.
  #
  # openamr-gpu:
  #   extends:
  #     service: openamr
  #   deploy:
  #     resources:
  #       reservations:
  #         devices:
  #           - driver: nvidia
  #             count: all
  #             capabilities: [gpu]
  #   runtime: nvidia

volumes:
  openamr_build:
  openamr_install: