x-spiri-sdk-doc: |
  Start a virtual camera that can be included in ros
x-spiri-sdk-default-args: --build

services:
  front-gimbal:
    ipc: host
    network_mode: host
    # image: git.spirirobotics.com/spiri/services-ros2-mavros:main
    #Build the iamge, give it a name, don't try to pull the image
    build: ./
    image: spirisdk-virtual_camera
    pull_policy: never
    environment:
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
    command: ros2 run ros_gz_image image_bridge /world/${WORLD_NAME}/model/${ROBOT_NAME}/link/pitch_link/sensor/camera/image