x-spiri-sdk-doc: Capture camera images for mapping
x-spiri-sdk-default-enabled: false

services:
  camera-capture:
    ipc: host
    network_mode: host
    restart: unless-stopped
    image: restreamio/gstreamer:2024-11-14T15-53-57Z-prod
    volumes:
      - ${SDK_ROOT}/survey/${ROBOT_NAME}:/survey/
    environment:
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    command: sh -c "rm -f /survey/*; gst-launch-1.0 -vc udpsrc port=$GSTREAMER_UDP_PORT close-socket=false auto-multicast=true ! application/x-rtp, payload=96 ! rtph264depay ! decodebin3 ! videoconvert ! videorate ! video/x-raw,framerate=1/2 ! jpegenc ! multifilesink location=/survey/img_%05d.jpg throttle-time=1"