version: "2.3"
# runtime: nvidia needs version 2 else change standard runtime at host pc

services:

    test_node:
        image: rapidposetriangulation_ros
        network_mode: "host"
        ipc: "host"
        runtime: nvidia
        privileged: true
        volumes:
            - ../../:/RapidPoseTriangulation/
            - ../../skelda/:/skelda/
            - /tmp/.X11-unix:/tmp/.X11-unix
            - /dev/shm:/dev/shm
        environment:
            - DISPLAY
            - QT_X11_NO_MITSHM=1
            - "PYTHONUNBUFFERED=1"
        command: /bin/bash -i -c 'sleep infinity'

    estimator:
        image: rapidposetriangulation_ros
        network_mode: "host"
        ipc: "host"
        runtime: nvidia
        privileged: true
        volumes:
            - ../../:/RapidPoseTriangulation/
            - ../../skelda/:/skelda/
            - /tmp/.X11-unix:/tmp/.X11-unix
            - /dev/shm:/dev/shm
        environment:
            - DISPLAY
            - QT_X11_NO_MITSHM=1
            - "PYTHONUNBUFFERED=1"
        # command: /bin/bash -i -c 'export ROS_DOMAIN_ID=18 && ros2 run rpt2D_wrapper_py rpt2D_wrapper'
        command: /bin/bash -i -c 'export ROS_DOMAIN_ID=18 && ros2 run rpt2D_wrapper_cpp rpt2D_wrapper'

    pose_visualizer:
        image: rapidposetriangulation_ros
        network_mode: "host"
        ipc: "host"
        runtime: nvidia
        privileged: true
        volumes:
            - ../../:/RapidPoseTriangulation/
            - ../../skelda/:/skelda/
            - /tmp/.X11-unix:/tmp/.X11-unix
            - /dev/shm:/dev/shm
        environment:
            - DISPLAY
            - QT_X11_NO_MITSHM=1
            - "PYTHONUNBUFFERED=1"
        command: /bin/bash -i -c 'sleep 2 && export ROS_DOMAIN_ID=18 && ros2 run pose2D_visualizer pose2D_visualizer'

    pose_viewer:
        image: rapidposetriangulation_ros
        network_mode: "host"
        ipc: "host"
        runtime: nvidia
        privileged: true
        volumes:
            - /tmp/.X11-unix:/tmp/.X11-unix
            - /dev/shm:/dev/shm
        environment:
            - DISPLAY
            - QT_X11_NO_MITSHM=1
            - "PYTHONUNBUFFERED=1"
        command: /bin/bash -i -c 'sleep 2 && export ROS_DOMAIN_ID=18 && ros2 run image_view image_view --ros-args --remap image:=/camera01/img_with_pose -p autosize:=True -p window_name:=MyImage'