compose.yaml

x-common-config:
  &common-config
  network_mode: host
  ipc: host
  restart: unless-stopped

x-dds-envs:
  &dds-envs
  env_file: .env.dds

services:

  ros2router:
    image: husarnet/ros2router:1.9.2
    <<: *common-config
    volumes:
      - ./filter.yaml:/filter.yaml
    environment:
      - USER
      - PARTICIPANTS=husarnet,shm

  rosbot:
    image: husarion/rosbot-xl:humble-0.10.0-20240216
    <<:
      - *common-config
      - *dds-envs
    # devices:
    #   - /dev/ttyUSBDB # just for firmware flashing
    #   - /dev/bus/usb/ # just for firmware flashing
    # ports:
    #   - 192.168.77.2:8888:8888/udp
    command: >
      ros2 launch /husarion_utils/rosbot.launch.py
        mecanum:=${MECANUM:-True}

  luxonis:
    image: husarion/depthai:humble-2.8.1-20240127
    <<:
      - *common-config
      - *dds-envs
    volumes:
      - /dev/bus/usb:/dev/bus/usb
      - ./params/oak-1-low-bandwidth.yaml:/params.yaml
    device_cgroup_rules:
      - 'c 189:* rmw'
    command: >
      ros2 launch depthai_ros_driver camera.launch.py
        params_file:=/params.yaml

  ffmpeg_encoder:
    # image: husarion/ffmpeg-streamer:humble-1.0.0-20240329
    image: husarion/ffmpeg-streamer:humble-image_transport_best_effort
    # image: husarion/ffmpeg-streamer:iron-image_transport_best_effort
    <<:
      - *common-config
      - *dds-envs
    environment:
      - TYPE=ENCODER
      - RAW_TOPIC=/oak/rgb/image_raw
      - FFMPEG_TOPIC=/image_raw/ffmpeg_best_effort