version: "3.8"

# Jetson Nano — ROS2 Humble SLAM stack
# Run with: docker compose up -d
# Requires: NVIDIA Container Runtime (nvidia-docker2) on host

services:

  # ── Core ROS2 + SLAM node ─────────────────────────────────────────────────
  saltybot-ros2:
    image: saltybot/ros2-humble:jetson-nano
    build:
      context: .
      dockerfile: Dockerfile
    container_name: saltybot-ros2
    restart: unless-stopped
    runtime: nvidia                 # JetPack NVIDIA runtime
    privileged: false               # use device passthrough instead
    network_mode: host              # ROS2 DDS multicast needs host networking

    environment:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - ROS_DOMAIN_ID=42
      - DISPLAY=${DISPLAY:-:0}      # for RViz2 on host X11

    volumes:
      # X11 socket for RViz2
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      # ROS2 workspace (host-mounted for live dev)
      - ./ros2_ws:/ros2_ws/src:rw
      # Persistent SLAM maps
      - saltybot-maps:/maps
      # Config files
      - ./config:/config:ro

    devices:
      # RPLIDAR A1M8 — typically /dev/ttyUSB0
      - /dev/ttyUSB0:/dev/ttyUSB0
      # STM32 UART bridge — typically /dev/ttyUSB1 or /dev/ttyACM0
      - /dev/ttyUSB1:/dev/ttyUSB1
      # RealSense D435i — USB3 device, needs udev rules
      - /dev/bus/usb:/dev/bus/usb
      # I2C bus (Jetson i2c-1 = pins 3/5)
      - /dev/i2c-1:/dev/i2c-1
      # GPIO (via Jetson.GPIO)
      - /sys/class/gpio:/sys/class/gpio

    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        ros2 launch saltybot_bringup slam.launch.py
      "

  # ── RPLIDAR driver node ────────────────────────────────────────────────────
  rplidar:
    image: saltybot/ros2-humble:jetson-nano
    build:
      context: .
      dockerfile: Dockerfile
    container_name: saltybot-rplidar
    restart: unless-stopped
    runtime: nvidia
    network_mode: host
    environment:
      - ROS_DOMAIN_ID=42
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    devices:
      - /dev/ttyUSB0:/dev/ttyUSB0
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        ros2 launch rplidar_ros rplidar_a1_launch.py
          serial_port:=/dev/ttyUSB0
          frame_id:=laser
      "

  # ── RealSense D435i driver node ────────────────────────────────────────────
  realsense:
    image: saltybot/ros2-humble:jetson-nano
    build:
      context: .
      dockerfile: Dockerfile
    container_name: saltybot-realsense
    restart: unless-stopped
    runtime: nvidia
    network_mode: host
    environment:
      - ROS_DOMAIN_ID=42
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    devices:
      - /dev/bus/usb:/dev/bus/usb
    volumes:
      - /dev:/dev
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        ros2 launch realsense2_camera rs_launch.py
          enable_color:=true
          enable_depth:=true
          enable_gyro:=true
          enable_accel:=true
          unite_imu_method:=linear_interpolation
          depth_module.profile:=640x480x30
          rgb_camera.profile:=640x480x30
      "

  # ── STM32 bridge node (custom serial↔ROS2 bridge) ─────────────────────────
  stm32-bridge:
    image: saltybot/ros2-humble:jetson-nano
    build:
      context: .
      dockerfile: Dockerfile
    container_name: saltybot-stm32-bridge
    restart: unless-stopped
    runtime: nvidia
    network_mode: host
    environment:
      - ROS_DOMAIN_ID=42
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    devices:
      - /dev/ttyUSB1:/dev/ttyUSB1
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        ros2 run saltybot_stm32_bridge bridge_node
          --ros-args
          -p serial_port:=/dev/ttyUSB1
          -p baud_rate:=921600
      "

volumes:
  saltybot-maps:
    driver: local