x-spiri-sdk-doc: |
  Runs the core services for a simulated Spiri Mu

services:
  ardupilot:
    env_file:
      - .env
    image: git.spirirobotics.com/spiri/ardupilot:spiri-master
    command:
      - /bin/bash
      - -c
      - |
        ./Tools/autotest/sim_vehicle.py $ARDUPILOT_VEHICLE --no-rebuild \
        --no-mavproxy --enable-dds --sysid $DRONE_SYS_ID -I$INSTANCE
    stdin_open: true
    tty: true
    network_mode: host

  mavproxy:
    env_file:
      - .env
    image: git.spirirobotics.com/spiri/services-mavproxy:main
    command: >
      mavproxy.py --non-interactive
      --master tcp:127.0.0.1:$SERIAL0_PORT 
      --out udpout:0.0.0.0:$MAVROS2_PORT
      --out udpout:0.0.0.0:$MAVROS1_PORT
      --out udpout:0.0.0.0:18761
      --sitl 127.0.0.1:$SITL_PORT
      --out udp:0.0.0.0:$GCS_PORT
    ipc: host
    network_mode: host
    restart: always

  mavros2:
    env_file:
      - .env
    image: git.spirirobotics.com/spiri/services-ros2-mavros:main
    command: ros2 launch mavros apm.launch fcu_url:="udp://0.0.0.0:$MAVROS2_PORT@:14555" namespace:="$ROBOT_NAME" tgt_system:="$DRONE_SYS_ID"
    ipc: host
    network_mode: host
    restart: always
    depends_on:
      ardupilot:
        condition: service_started
      mavproxy:
        condition: service_started
    deploy:
      resources:
        limits:
          # cpus: '0.01'
          memory: 200M
    ulimits:
      nofile:
        soft: 1024
        hard: 524288

  mavros:
    #This service bridges our mavlink-based robot-coprosessor into ROS
    #In this example it connects to a simulated coprocessor.
    env_file:
      - .env
    image: git.spirirobotics.com/spiri/services-ros1-mavros:master
    command: rosrun mavros mavros_node __name:=spiri$DRONE_SYS_ID _fcu_url:="udp://0.0.0.0:$MAVROS1_PORT@:14559" _target_system_id:="$DRONE_SYS_ID"
    profiles:
      - ros1
    ipc: host
    network_mode: host
    restart: always
    deploy:
      resources:
        limits:
          # cpus: '0.01'
          memory: 200M
    ulimits:
      nofile:
        soft: 1024
        hard: 524288

  ros-master:
    env_file:
      - .env
    image: git.spirirobotics.com/spiri/services-ros1-core:main
    command: stdbuf -o L roscore
    profiles:
      - ros1-master
    ipc: host
    network_mode: host
    restart: always
    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