version: "3.8"

# Jetson Orin Nano Super — ROS2 Humble SLAM stack
# Run with: docker compose up -d
# Requires: NVIDIA Container Toolkit (JetPack 6) on host

services:

  # ── Core ROS2 + SLAM node ─────────────────────────────────────────────────
  saltybot-ros2:
    image: saltybot/ros2-humble:jetson-orin
    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/src:/ros2_ws/src:rw
      # Persistent SLAM maps on NVMe
      - /mnt/nvme/saltybot/maps:/maps
      # NVMe data volume
      - /mnt/nvme/saltybot:/data:rw
      # Config files
      - ./config:/config:ro

    devices:
      # RPLIDAR A1M8 — stable symlink via udev
      - /dev/rplidar:/dev/rplidar
      # STM32 USB CDC bridge — stable symlink via udev
      - /dev/stm32-bridge:/dev/stm32-bridge
      # RealSense D435i — USB3 device, needs udev rules
      - /dev/bus/usb:/dev/bus/usb
      # I2C bus (Orin Nano i2c-7 = 40-pin header pins 3/5)
      - /dev/i2c-7:/dev/i2c-7
      # CSI cameras via V4L2
      - /dev/video0:/dev/video0
      - /dev/video2:/dev/video2
      - /dev/video4:/dev/video4
      - /dev/video6:/dev/video6

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

  # ── RPLIDAR driver node ────────────────────────────────────────────────────
  rplidar:
    image: saltybot/ros2-humble:jetson-orin
    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/rplidar:/dev/rplidar
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        ros2 launch rplidar_ros rplidar_a1_launch.py
          serial_port:=/dev/rplidar
          frame_id:=laser
      "

  # ── RealSense D435i driver node ────────────────────────────────────────────
  realsense:
    image: saltybot/ros2-humble:jetson-orin
    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 (bidirectional serial↔ROS2) ─────────────────────────
  stm32-bridge:
    image: saltybot/ros2-humble:jetson-orin
    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/stm32-bridge:/dev/stm32-bridge
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        ros2 launch saltybot_bridge bridge.launch.py
          mode:=bidirectional
          serial_port:=/dev/stm32-bridge
      "

  # ── 4× IMX219 CSI cameras ─────────────────────────────────────────────────
  csi-cameras:
    image: saltybot/ros2-humble:jetson-orin
    build:
      context: .
      dockerfile: Dockerfile
    container_name: saltybot-csi-cameras
    restart: unless-stopped
    runtime: nvidia
    network_mode: host
    privileged: true                # CSI camera access requires elevated perms
    environment:
      - ROS_DOMAIN_ID=42
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
    devices:
      - /dev/video0:/dev/video0
      - /dev/video2:/dev/video2
      - /dev/video4:/dev/video4
      - /dev/video6:/dev/video6
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        ros2 launch saltybot_cameras csi_cameras.launch.py
          width:=640
          height:=480
          fps:=30
      "

  # ── Nav2 autonomous navigation stack ────────────────────────────────────────
  saltybot-nav2:
    image: saltybot/ros2-humble:jetson-orin
    build:
      context: .
      dockerfile: Dockerfile
    container_name: saltybot-nav2
    restart: unless-stopped
    runtime: nvidia
    network_mode: host
    depends_on:
      - saltybot-ros2               # RTAB-Map + sensors must be running first
    environment:
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      - ROS_DOMAIN_ID=42
    volumes:
      - ./ros2_ws/src:/ros2_ws/src:rw
      - ./config:/config:ro
    command: >
      bash -c "
        source /opt/ros/humble/setup.bash &&
        ros2 launch saltybot_bringup nav2.launch.py
      "

volumes:
  saltybot-maps:
    driver: local