# Docker Compose

# docker-compose.yml format version
version: '3'

networks:
    ros:
        driver: bridge

# Define services
services:
    # ROS Development Service
    ros-dev:
        # Use Dockerfile in ros-dev folder
        build: ./ros-dev
        # Mount ros-dev folder on host to app folder in container
        volumes:
            - ./ros-dev:/app
        # Set DISPLAY variable and network mode for GUIs
        environment:
            - DISPLAY=${IP_ADDRESS}:0.0
        network_mode: "host"
        # Set working directory in container to app folder
        working_dir: /app

    # ROS Turtlesim Service
    ros-turtlesim:
        # Use Dockerfile in ros-turtlesim folder
        build: ./ros-turtlesim
        # Mount ros-turtlesim folder on host to app folder in container
        volumes:
            - ./ros-turtlesim:/app
        # Set DISPLAY variable and network mode for GUIs
        environment:
            - DISPLAY=${IP_ADDRESS}:0.0
        network_mode: "host"
        # Set working directory in container to app folder
        working_dir: /app
        # Run turtlesim script when container is run
        command: bash -c "./turtlesim.sh"

    # ROS Production Service
    ros:
        # Use Dockerfile in ros folder
        build: ./ros
        # Mount ros folder on host to app folder in container
        volumes:
            - ./ros:/app
        # Set DISPLAY variable and network mode for GUIs
        environment:
            - DISPLAY=${IP_ADDRESS}:0.0
        network_mode: "host"
        # Set working directory in container to app folder
        working_dir: /app

    # Gazebo Production Service
    gazebo:
        # Use Dockerfile in gazebo folder
        build: ./gazebo
        # Mount gazebo folder on host to app folder in container
        volumes:
            #- .docker_env/gazebo/.gazebo:/root/.gazebo
            - ../src/rrrobot_ws:/app/rrrobot_ws
        # Set DISPLAY variable and network mode for GUIs
        environment:
            - DISPLAY=${IP_ADDRESS}:0.0
        # network_mode: "host"
        # Set working directory in container to app folder
        #working_dir: /home/rrrobot
        hostname: "rrrobot-env"
        networks:
            - ros
    
    # GEAR Production Service
    gear:
        # Use Dockerfile in gear folder
        build: ./gear
        # Mount gear folder on host to app folder in container
        volumes:
            - ../src/rrrobot_ws:/app/rrrobot_ws
        # Set DISPLAY variable and network mode for GUIs
        environment:
            - DISPLAY=${IP_ADDRESS}:0.0
        # Set working directory in container to app folder
        working_dir: /app
        hostname: "rrrobot-env"
        networks:
            - ros