docker-compose-desktop.yaml

services:
  ros2-desktop:
    image: humble-ros-desktop:overlay
    build:
      context: .
      dockerfile: ./dockerfile_desktop
      args:
        ROS_DISTRO: humble
      target: overlay
    stdin_open: true
    tty: true
    network_mode: host
    ipc: host
    privileged: true
    environment:
       - ROS_DOMAIN_ID=42
       - DISPLAY=$DISPLAY
    devices:
      - "/dev/dri/:/dev/dri/"
    volumes:
      - $HOME/.Xauthority:/root/.Xauthority:ro
    # Configure usb device on the BCM controller

  rviz2-cartographer:
    extends: ros2-desktop
    image: humble-ros-desktop:overlay
    build:
      context: .
      dockerfile: ./dockerfile_desktop
      target: overlay
    # Start mapping using cartographer
    command: ros2 launch cartographer_config desktop_cartographer.launch.py

  rviz2-nav:
    extends: ros2-desktop
    image: humble-ros-desktop:overlay
    build:
      context: .
      dockerfile: ./dockerfile_desktop
      target: overlay
    # Start nav2 interface
    command: ros2 launch nav2_bringup rviz_launch.py