arm64_compose.yaml

version: '3.2'

services:
  ros_noetic:
    privileged: true
    build:
      context: RPi_Docker_files_arm64/noetic
      dockerfile: Dockerfile
    container_name: noetic_rosaria
    environment:
      - ROS_MASTER_URI=http://localhost:11311
      - DISPLAY=${DISPLAY}
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix
      - /dev/bus/usb:/dev/bus/usb
    network_mode: host
    ipc: host
    tty: true
    stdin_open: true
    command: bash #rosrun rosaria RosAria

  ros_kinetic:
    privileged: true
    build:
      context: RPi_Docker_files_arm64/kinetic
      dockerfile: Dockerfile
    container_name: kinetic_sick
    environment:
      - ROS_MASTER_URI=http://localhost:11311
      - DISPLAY=${DISPLAY}
    volumes:
      - /dev/bus/usb:/dev/bus/usb
      - /tmp/.X11-unix:/tmp/.X11-unix
    network_mode: host
    ipc: host
    tty: true
    stdin_open: true
    command: tail -f /dev/null

  ros2_humble:
    build:
      context: RPi_Docker_files_arm64/humble
      dockerfile: Dockerfile
    container_name: ros2_humble_container
    environment:
      - DISPLAY=${DISPLAY} 
    volumes:
      - my_src_volume:/home/tom/humble_ws/src:rw
      - /dev/bus/usb:/dev/bus/usb
      - /tmp/.X11-unix:/tmp/.X11-unix
      
    network_mode: host
    ipc: host
    tty: true
    stdin_open: true
    # command: colcon build
    command: tail -f /dev/null

  ros2_foxy_bridge:
    build:
      context: RPi_Docker_files_arm64/bridge
      dockerfile: Dockerfile
    container_name: foxy_bridge_container
    environment:
      - ROS_MASTER_URI=http://localhost:11311
    volumes:
      - ./bridge/source:/ros_bridge
    network_mode: host
    ipc: host
    tty: true
    stdin_open: true
    command: tail -f /dev/null
    #source /opt/ros/noetic/setup.bash && rosparam load bridge.yaml && source /opt/ros/foxy/setup.bash && ros2 run ros1_bridge parameter_bridge #
    
volumes:
  my_src_volume:
    driver: local  # Using local driver, by default
    driver_opts:
      type: none
      o: bind
      device: ${PWD}/humble/source  # Host machine's source directory