docker-compose.yaml

version: '2'

services:
  spot_ros2_container:
    image: eshansavla0512/ros2-spot-arm64:rework
    build:
      context: .
      dockerfile: ./docker/spot-ros2/Dockerfile
      platforms: 
        - "linux/arm64/v8"
    # command: bash ./star.sh
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./:/home/robot/spot-perception:rw
      - /home/spot/spot_map:/home/robot/spot_map:rw
    privileged: true
    stdin_open: true
    container_name: spot_ros2_container
    tty: true
    network_mode: "host"
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
    platform: "linux/arm64/v8"

  
  rtabmap_ros2_container:
    image: eshansavla0512/ros2-rtabmap-arm64:latest
    build:
      context: .
      dockerfile: ./docker/rtab-map/Dockerfile
      platforms: 
        - "linux/arm64/v8"
    # command: bash ./entrypoint.sh
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./:/home/robot/spot-perception:rw
    privileged: true
    stdin_open: true
    container_name: rtabmap_ros2_container
    tty: true
    network_mode: "host"
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
    platform: "linux/arm64/v8"
    depends_on:
      - spot_ros2_container