docker-compose.yml

version: "3.9"
services:
  ros2_docker:
    build:
      context: ..
      dockerfile: docker/Dockerfile
      target: dev
      args:
        - AMENT_WORKSPACE_DIR=${AMENT_WORKSPACE_DIR}
        - USERNAME=${USERNAME:-developer}
        - UID=${UID}
        - GID=${GID}
    container_name: ros2_docker
    environment:
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
      # Limit ROS communication to local computer only
      #- ROS_LOCALHOST_ONLY=1
      - YOUR_IP=${YOUR_IP}
      - ROBOT_IP=${ROBOT_IP}
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
      # Configure Cyclone with a custom configuration using the IPs above
      #- CYCLONEDDS_URI=${AMENT_WORKSPACE_DIR}/dds/cyclone.xml
    extra_hosts:
      - "${ROBOT_HOSTNAME}:${ROBOT_IP}"
    # Required for communicating over the network
    network_mode: "host"
    # Required for accessing hardware
    #privileged: true
    tty: true
    volumes:
      # Required for accessing hardware
      #- /dev:/dev
      # Required for accessing storage media
      #- /media:/media
      - ../src:${AMENT_WORKSPACE_DIR}/src
      - ../dds:${AMENT_WORKSPACE_DIR}/dds
      # Required for ROS 2 shared memory communication
      #- /dev/shm:/dev/shm