docker-compose-neato.yaml

services:
  ros2-base:
    image: humble-ros-neato:base
    build:
      context: .
      dockerfile: ./dockerfile_neato
      args:
        ROS_DISTRO: humble
      target: base
    stdin_open: true
    tty: true
    network_mode: host
    ipc: host
    privileged: true
    environment:
       - ROS_DOMAIN_ID=42
    devices:
      - "/dev/ttyACM0:/dev/ttyACM0"
    # Configure usb device on the BCM controller
    command: tpi usb device -n 2 --user root --password turing --host 192.168.2.171

  neato-base:
    extends: ros2-base 
    image: humble-ros-neato:overlay
    build:
      context: .
      dockerfile: ./dockerfile_neato
      target: overlay
    # Start neato controller
    command: ros2 launch botvac_node botvac_base.launch.py

  neato-cartographer:
    extends: ros2-base
    image: humble-ros-neato:overlay
    build:
      context: .
      dockerfile: ./dockerfile_neato
      target: overlay
    # Start mapping using cartographer
    command: ros2 launch cartographer_config cartographer.launch.py

  neato-nav2:
    extends: ros2-base
    image: humble-ros-neato:overlay
    build:
      context: .
      dockerfile: ./dockerfile_neato
      target: overlay
    # Start navigation using nav2
    command: ros2 launch nav2_bringup_neato bringup_launch.py use_sim_time:=False autostart:=True map:=/root/ws/src/nav2_bringup_neato/maps/map.yaml