# Copyright (C) 2022, Raffaello Bonghi <raffaello@rnext.it>
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version: "3.9"
services:
  core: # https://nanosaur.ai
    image: nanosaur/nanosaur:${DOCKER_TAG:-latest}
    network_mode: ${DOCKER_NETWORK:-host}
    restart: always
    devices:
      - "/dev/i2c-0" # display right [ID:3C]
      - "/dev/i2c-1" # I2C motors [ID:60] display left [ID:3C]
      - "/dev/input" # Joystick robot
    environment:
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
      - NANOSAUR_COVER_TYPE=${NANOSAUR_COVER_TYPE:-fisheye}
      - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION:-rmw_cyclonedds_cpp}
    labels:
      - "com.centurylinklabs.watchtower.scope=nanosaur"
    volumes:
      - "/run/jtop.sock:/run/jtop.sock" # jtop socket
      - "/run/ros2sm.sock:/run/ros2sm.sock" # ros2_system_manager
      # if you want change the nanosaur configuration
      # Read https://github.com/rnanosaur/nanosaur/wiki/configuration
      - "/opt/nanosaur/param:/opt/ros_ws/install/share/nanosaur_bringup/param" # Extra configuration folder
  perception:
    image: nanosaur/perception:${PERCEPTION_DOCKER_TAG:-latest}
    network_mode: ${DOCKER_NETWORK:-host}
    restart: always
    privileged: true
    depends_on:
      - "core"
    environment:
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
      - NANOSAUR_COVER_TYPE=${NANOSAUR_COVER_TYPE:-fisheye}
      - RMW_IMPLEMENTATION=${NANOSAUR_RMW:-rmw_cyclonedds_cpp}
    labels:
      - "com.centurylinklabs.watchtower.scope=nanosaur"
    volumes:
      - "/tmp/argus_socket:/tmp/argus_socket" # CSI camera
      # if you want change the nanosaur configuration
      # Read https://github.com/rnanosaur/nanosaur/wiki/configuration
      - "/opt/nanosaur/param:/opt/ros_ws/install/share/nanosaur_perception/param" # Extra configuration folder
  webgui: # Webgui for nanosaur. Open a web interface on: https://<hostname>.local:8888
    image: nanosaur/webgui:main
    network_mode: ${DOCKER_NETWORK:-host}
    restart: always
    environment:
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
    labels:
      - "com.centurylinklabs.watchtower.scope=nanosaur"
  watchtower:
    image: containrrr/watchtower
    network_mode: ${DOCKER_NETWORK:-host}
    restart: always
    volumes:
      - /var/run/docker.sock:/var/run/docker.sock
    command: --scope nanosaur --interval 18000 # 5 hours
    labels:
      - "com.centurylinklabs.watchtower.scope=nanosaur"