compose.yaml

x-net-config:
  &net-config
  network_mode: host
  ipc: host
  env_file: net.env

services:
  rosbot:
    image: husarion/rosbot-xl-manipulation:humble-1.1.2-20240516
    container_name: rosbot_xl_manipulation
    <<: *net-config
    devices:
      - ${MANIPULATOR_SERIAL:?err}:/dev/manipulator
    volumes: 
      - ./config/joy_servo.yaml:/joy_servo.yaml
    command: >
      ros2 launch rosbot_xl_manipulation_bringup bringup.launch.py
        mecanum:=${MECANUM:-True}
        manipulator_usb_port:=/dev/manipulator
        manipulator_baud_rate:=${MANIPULATOR_BAUDRATE:-1000000}
        joy_servo_params_file:=/joy_servo.yaml
        antenna_rotation_angle:=${ANTENNA_ROTATION_ANGLE:--1.57}

  # microros:
  #   image: husarion/micro-ros-agent:humble-3.1.2-20230204-stable
  #   <<: *net-config
  #   environment:
  #     - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
  #   command: ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888