docker-compose.yaml

version: '3.9'

networks:
  pleasework:
    driver: bridge

services:

  state_publisher:
    container_name: state_publisher
    hostname: state_publisher
    build:
      context: ./state_publisher
    environment:
      #- "ROS_DOMAIN_ID=0"
      - "RMW_IMPLEMENTATION=rmw_fastrtps_cpp"
    networks: 
      - pleasework
    #network_mode: "host"

  realsense:
    container_name: realsense
    hostname: realsense
    build:
      context: ./realsense
    privileged: true
    volumes:
      - /dev/input:/dev/input
    environment:
      #- "ROS_DOMAIN_ID=0"
      - "RMW_IMPLEMENTATION=rmw_fastrtps_cpp"
    networks: 
      - pleasework
    #network_mode: "host"

  rtab:
    container_name: rtab
    hostname: rtab
    build:
      context: ./rtab
    environment:
      #- "ROS_DOMAIN_ID=0"
      - "RMW_IMPLEMENTATION=rmw_fastrtps_cpp"
    networks: 
      - pleasework
    #network_mode: "host"

  nav2:
    container_name: nav
    hostname: nav
    build:
      context: ./nav2
    environment:
      #- "ROS_DOMAIN_ID=0"
      - "RMW_IMPLEMENTATION=rmw_fastrtps_cpp"
    networks: 
      - pleasework
    #network_mode: "host"