version: "3.8"



services:

  ros-master:
    image: git.spirirobotics.com/spiri/services-ros1-core:main
    command: stdbuf -o L roscore
    environment:
      - "ROS_MASTER_URI=http://ros-master:11311"
    restart: always
    ports:
      - "11311:11311"
    deploy:
      resources:
        limits:
          memory: 1G
    # Madness, setting a low ulimit here fixes memory leaks
    # https://answers.ros.org/question/336963/rosout-high-memory-usage/
    ulimits:
      nofile:
        soft: 1024
        hard: 524288
    networks:
      - sim_network

  xbee-mav:
    command: tail -f /dev/null
    # command: roslaunch xbee_ros_node xbeemav.launch baud:=230400 port:="/dev/ttyUSB0" drone:="master" mode:="swarm"
    container_name: xbee-mav
    depends_on:
      - ros-master
    build:
      context: .
      dockerfile: Dockerfile
    devices:
      - /dev/ttyUSB0:/dev/ttyUSB0
    environment:
      - "ROS_MASTER_URI=http://ros-master:11311"
    networks:
      - sim_network

networks:
  sim_network:
    driver: bridge