docker-compose.yml

x-launch-mount: &launch-mount           ./carla-ros-bridge.launch.py:/demo.launch.py
x-sensors-mount: &sensors-mount         ./sensors.json:/sensors.json
x-rviz-config-mount: &rviz-config-mount ./config.rviz:/config.rviz

# ==============================================================================

services:

  carla-simulator:
    extends:
      file: ../utils/components.yml
      service: carla-simulator

  carla-ros-bridge:
    extends:
      file: ../utils/components.yml
      service: carla-ros-bridge
    depends_on:
      carla-simulator:
        condition: service_healthy
    volumes:
      - *launch-mount
      - *sensors-mount
    command: bash -ic 'ros2 launch /demo.launch.py'
    
  ros-monitoring:
    extends:
      file: ../utils/components.yml
      service: ros-monitoring
    depends_on:
      carla-simulator:
        condition: service_healthy
    volumes:
      - *rviz-config-mount
    command: bash -ic 'rviz2 -d /config.rviz --ros-args -p use_sim_time:=true &> /dev/null'

  image-segmentation:
    depends_on:
      carla-simulator:
        condition: service_healthy
    image: rwthika/carlos-image-segmentation
    command: ros2 launch image_segmentation image_segmentation_launch.py image_topic:=/carla/ego_vehicle/rgb_front/image
    
  # <custom-component-name>
  #   image: <custom-image-name>
  #   command: <custom-command>