compose.yaml

services:
  mrg_slam:
    image: aserbremen/mrg_slam_jazzy
    network_mode: host
    ipc: host
    pid: host
    user: "1000:1000" 

    environment:
      RMW_IMPLEMENTATION: ${RMW_IMPLEMENTATION:-rmw_zenoh_cpp}
      RCUTILS_LOGGING_BUFFERED_STREAM: "1"  # Enable buffered logging
      RCUTILS_LOGGING_USE_STDOUT: "0"  # Enable logging to stdout
      # Algo parameters
      USE_SIM_TIME: ${USE_SIM_TIME:-true}
      MODEL_NAMESPACE: ${MODEL_NAMESPACE:-atlas}
      X: ${X:-0.0}
      Y: ${Y:-0.0}
      Z: ${Z:-0.0}
      ROLL: ${ROLL:-0.0}
      PITCH: ${PITCH:-0.0}
      YAW: ${YAW:-0.0}
      INIT_ODOM_TOPIC: ${INIT_ODOM_TOPIC:-NONE}
      INIT_POSE_TOPIC: ${INIT_POSE_TOPIC:-NONE}

    # Mount the mrg_slam.yaml config as well as the mrg_slam.launch.py launch file in order to reflect the changes in the container
    volumes:
      - ./../src/mrg_slam/config/mrg_slam.yaml:/home/ubuntu/ros2_ws/src/mrg_slam/config/mrg_slam.yaml
      - ./../src/mrg_slam/launch/mrg_slam.launch.py:/home/ubuntu/ros2_ws/src/mrg_slam/launch/mrg_slam.launch.py

    command: /bin/bash -c "source /ros_entrypoint.sh && \
      source /home/ubuntu/ros2_ws/install/setup.bash && \
      ros2 launch mrg_slam mrg_slam.launch.py \
      model_namespace:=$$MODEL_NAMESPACE use_sim_time:=$$USE_SIM_TIME \
      x:=$$X y:=$$Y z:=$$Z roll:=$$ROLL pitch:=$$PITCH yaw:=$$YAW \
      init_odom_topic:=$$INIT_ODOM_TOPIC init_pose_topic:=$$INIT_POSE_TOPIC"