services:
  map:
    image: ghcr.io/autowarefoundation/autoware:universe-localization-mapping
    container_name: autoware-map
    init: true
    ipc: host
    environment:
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
    volumes:
      - ${MAP_PATH}:/autoware_map:ro
    network_mode: host
    command: >
      ros2 launch autoware_launch tier4_map_component.launch.xml
      lanelet2_map_file:=${LANELET2_MAP_FILE}
      map_path:=/autoware_map
      pointcloud_map_file:=${POINTCLOUD_MAP_FILE}
      use_sim_time:=${USE_SIM_TIME}
      vehicle_model:=${VEHICLE_MODEL}
    restart: on-failure

  planning:
    image: ghcr.io/autowarefoundation/autoware:universe-planning-control
    container_name: autoware-planning
    pid: service:map
    ipc: host
    init: true
    environment:
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
    network_mode: host
    depends_on:
      - map
    command: >
      ros2 launch autoware_launch tier4_planning_component.launch.xml
      component_wise_launch:=true
      enable_all_modules_auto_mode:=${ENABLE_ALL_MODULES_AUTO_MODE}
      is_simulation:=${IS_SIMULATION_MODE}
      module_preset:=${PLANNING_MODULE_PRESET}
      pointcloud_container_name:=${POINTCLOUD_CONTAINER_NAME}
      use_sim_time:=${USE_SIM_TIME}
      vehicle_model:=${VEHICLE_MODEL}
    restart: on-failure

  control:
    image: ghcr.io/autowarefoundation/autoware:universe-planning-control
    container_name: autoware-control
    pid: service:map
    ipc: host
    init: true
    environment:
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
    network_mode: host
    depends_on:
      - map
      - planning
      - system
    command: >
      ros2 launch autoware_launch tier4_control_component.launch.xml
      check_external_emergency_heartbeat:=${CHECK_EXTERNAL_EMERGENCY_HEARTBEAT}
      component_wise_launch:=true
      lateral_controller_mode:=${LATERAL_CONTROLLER_MODE}
      longitudinal_controller_mode:=${LONGITUDINAL_CONTROLLER_MODE}
      module_preset:=${CONTROL_MODULE_PRESET}
      use_sim_time:=${USE_SIM_TIME}
      vehicle_id:=${VEHICLE_ID}
      vehicle_model:=${VEHICLE_MODEL}
    restart: on-failure

  vehicle:
    image: ghcr.io/autowarefoundation/autoware:universe-vehicle-system
    container_name: autoware-vehicle
    pid: service:map
    ipc: host
    init: true
    environment:
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
    network_mode: host
    depends_on:
      - map
    command: >
      ros2 launch tier4_vehicle_launch vehicle.launch.xml
      launch_vehicle_interface:=${LAUNCH_VEHICLE_INTERFACE}
      raw_vehicle_cmd_converter_param_path:=/opt/autoware/share/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml
      sensor_model:=${SENSOR_MODEL}
      use_sim_time:=${USE_SIM_TIME}
      vehicle_id:=${VEHICLE_ID}
      vehicle_model:=${VEHICLE_MODEL}
    restart: on-failure

  system:
    image: ghcr.io/autowarefoundation/autoware:universe-vehicle-system
    container_name: autoware-system
    pid: service:map
    ipc: host
    init: true
    environment:
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
    network_mode: host
    depends_on:
      - map
    command: >
      ros2 launch autoware_launch tier4_system_component.launch.xml
      launch_system_monitor:=${LAUNCH_SYSTEM_MONITOR}
      launch_dummy_diag_publisher:=${LAUNCH_DUMMY_DIAG_PUBLISHER}
      sensor_model:=${SENSOR_MODEL}
      system_run_mode:=${SYSTEM_RUN_MODE}
      use_sim_time:=${USE_SIM_TIME}
      vehicle_model:=${VEHICLE_MODEL}
    restart: on-failure

  sensing-perception:
    image: ${SENSING_PERCEPTION_IMAGE}
    container_name: autoware-sensing-perception
    pid: service:map
    ipc: host
    init: true
    environment:
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
    volumes:
      - ${DATA_PATH}:/autoware_data:rw
    network_mode: host
    depends_on:
      - map
      - system
    command: >
      bash -c "
      ros2 launch autoware_launch tier4_sensing_component.launch.xml
      launch_pointcloud_container:=${LAUNCH_POINTCLOUD_CONTAINER_SENSING}
      launch_sensing_driver:=${LAUNCH_SENSING_DRIVER}
      pointcloud_container_name:=${POINTCLOUD_CONTAINER_NAME}
      sensor_model:=${SENSOR_MODEL}
      use_sim_time:=${USE_SIM_TIME}
      vehicle_model:=${VEHICLE_MODEL} &
      ros2 launch autoware_launch tier4_perception_component.launch.xml
      data_path:=/autoware_data
      launch_pointcloud_container:=${LAUNCH_POINTCLOUD_CONTAINER_PERCEPTION}
      lidar_detection_model:=${LIDAR_DETECTION_MODEL}
      occupancy_grid_map_method:=${OCCUPANCY_GRID_MAP_METHOD}
      perception_mode:=${PERCEPTION_MODE}
      pointcloud_container_name:=${POINTCLOUD_CONTAINER_NAME}
      use_sim_time:=${USE_SIM_TIME}
      vehicle_model:=${VEHICLE_MODEL}
      "
    restart: on-failure
    profiles:
      - logging-simulation

  localization:
    image: ghcr.io/autowarefoundation/autoware:universe-localization-mapping
    container_name: autoware-localization
    pid: service:map
    ipc: host
    init: true
    environment:
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
    network_mode: host
    depends_on:
      - map
      - system
      - sensing-perception
    command: >
      ros2 launch autoware_launch tier4_localization_component.launch.xml
      system_run_mode:=${SYSTEM_RUN_MODE}
      use_sim_time:=${USE_SIM_TIME}
      vehicle_model:=${VEHICLE_MODEL}
    restart: on-failure
    profiles:
      - logging-simulation

  simulator:
    # TODO(youtalk): Use autoware-tools:scenario-simulator image
    image: ghcr.io/autowarefoundation/autoware:universe
    container_name: autoware-simulator
    pid: service:map
    ipc: host
    init: true
    environment:
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
    network_mode: host
    depends_on:
      - map
      - system
      - vehicle
    command: >
      ros2 launch autoware_launch tier4_simulator_component.launch.xml
      initial_engage_state:=${INITIAL_ENGAGE_STATE}
      launch_dummy_doors:=${LAUNCH_DUMMY_DOORS}
      launch_dummy_perception:=${LAUNCH_DUMMY_PERCEPTION}
      launch_dummy_vehicle:=${LAUNCH_DUMMY_VEHICLE}
      launch_scenario_simulator_v2_adapter:=${LAUNCH_SCENARIO_SIMULATOR_V2_ADAPTER}
      localization_sim_mode:=${LOCALIZATION_SIM_MODE}
      perception/enable_detection_failure:=${PERCEPTION_ENABLE_DETECTION_FAILURE}
      perception/enable_object_recognition:=${PERCEPTION_ENABLE_OBJECT_RECOGNITION}
      perception/enable_traffic_light:=${PERCEPTION_ENABLE_TRAFFIC_LIGHT}
      perception/use_base_link_z:=${PERCEPTION_USE_BASE_LINK_Z}
      raw_vehicle_cmd_converter_param_path:=/opt/autoware/share/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml
      scenario_simulation:=${SCENARIO_SIMULATION}
      sensing/visible_range:=${SENSING_VISIBLE_RANGE}
      use_sim_time:=${USE_SIM_TIME}
      use_pointcloud_container:=${USE_POINTCLOUD_CONTAINER}
      vehicle_info_param_file:=/opt/autoware/share/${VEHICLE_MODEL}_description/config/vehicle_info.param.yaml
      vehicle_model:=${VEHICLE_MODEL}
    restart: on-failure
    profiles:
      - planning-simulation

  api:
    # TODO(youtalk): Create autoware:universe-api image
    image: ghcr.io/autowarefoundation/autoware:universe
    container_name: autoware-api
    pid: service:map
    ipc: host
    init: true
    environment:
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
    network_mode: host
    depends_on:
      - map
    command: >
      ros2 launch autoware_launch tier4_autoware_api_component.launch.xml
      component_wise_launch:=true
      scenario_simulation:=${SCENARIO_SIMULATION}
      use_sim_time:=${USE_SIM_TIME}
      vehicle_model:=${VEHICLE_MODEL}
    restart: on-failure

  visualization:
    image: ghcr.io/autowarefoundation/autoware-tools:visualizer
    container_name: autoware-visualization
    pid: service:map
    ipc: host
    init: true
    environment:
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
      - REMOTE_DISPLAY=${REMOTE_DISPLAY}
      - USE_SIM_TIME=${USE_SIM_TIME}
    ports:
      - 6080:6080
    network_mode: host
    restart: "no"
    profiles:
      - visualization

  rosbag:
    image: ghcr.io/autowarefoundation/autoware:universe
    container_name: autoware-rosbag
    ipc: host
    init: true
    environment:
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
    volumes:
      - ${ROSBAG_PATH}:/autoware_map/rosbag:ro
    network_mode: host
    command: >
      bash -c "ros2 bag info /autoware_map/rosbag -s ${ROSBAG_FORMAT} &&
      ros2 bag play /autoware_map/rosbag -r ${ROSBAG_RATE} -s ${ROSBAG_FORMAT}"
    restart: "no"
    profiles:
      - rosbag