docker-compose.yaml

version: "3.5"

# Containers
services:
  # Autonomy container
  lx_autonomy:
    build:
      context: ./
      dockerfile: ./docker/lx_autonomy.Dockerfile

    container_name: lx_autonomy

    privileged: true

    environment:
      DISPLAY: ${DISPLAY}

    network_mode: host

    volumes:
      - ./src/lx_autonomy/src/lx_packages:/home/lx_autonomy/lx_autonomy_ws/src/lx_packages
      - ./src/lx_autonomy/build_folders/build:/home/lx_autonomy/lx_autonomy_ws/build
      - ./src/lx_autonomy/build_folders/install:/home/lx_autonomy/lx_autonomy_ws/install
      - ./src/lx_autonomy/build_folders/log:/home/lx_autonomy/lx_autonomy_ws/log
      - ./src/lx_autonomy/init_autonomy.sh:/home/lx_autonomy/lx_autonomy_ws/init_autonomy.sh
      - ./bags/:/home/lx_autonomy/lx_autonomy_ws/bags/
      - ./utilities/:/home/lx_autonomy/lx_autonomy_ws/utilities/
      - /dev/:/dev/
      - /tmp/.X11-unix:/tmp/.X11-unix
      - /etc/timezone:/etc/timezone:ro
      - /etc/localtime:/etc/localtime:ro

    tty: true
    stdin_open: true

  # Hardware container
  lx_hardware:
    build:
      context: ./
      dockerfile: ./docker/lx_hardware.Dockerfile

    container_name: lx_hardware

    privileged: true

    # network_mode: host
    
    environment:
      DISPLAY: ${DISPLAY}

    volumes:
      - ./src/lx_hardware/ros2_ws/src/lx_packages/:/home/lx_hardware/ros2_ws/src/lx_packages/
      - ./src/lx_hardware/ros1_ws/src/lx_packages/:/home/lx_hardware/ros1_ws/src/lx_packages/
      - ./src/lx_hardware/init_hardware.sh:/home/lx_hardware/init_hardware.sh
      - /dev/:/dev/
      - /tmp/.X11-unix:/tmp/.X11-unix
      - /etc/timezone:/etc/timezone:ro
      - /etc/localtime:/etc/localtime:ro

    tty: true
    stdin_open: true