services:
   px4:
     build: Docker_PX4
     command: bash -c "source /opt/ros/melodic/setup.bash &&
       source home/arrow/PX4-Autopilot/Tools/simulation/gazebo-classic/setup_gazebo.bash home/arrow/PX4-Autopilot/ home/arrow/PX4-Autopilot//build/px4_sitl_default &&
       export ROS_PACKAGE_PATH=/home/arrow/catkin_ws/src/oscillation_ctrl:/opt/ros/melodic/share:/home/arrow/PX4-Autopilot:/home/arrow/PX4-Autopilot/Tools/sitl_gazebo:/home/arrow/PX4-Autopilot:/home/arrow/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic && 
       
       roslaunch px4 multi_uav_mavros_sitl_sdf.launch vehicle:=spiri"  
     tty: true
     privileged: true
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       
     environment:
       - "QT_X11_NO_MITSHM=1"
       - DISPLAY=$DISPLAY
     ports: 
       - 14570:14570/udp
         #deploy:
       #resources:
         #reservations:
           #devices:
             #- driver: nvidia
               #
               #               capabilities: [gpu]
   ros:
      build: Docker_ROS
      command: bash
      tty: true
      privileged: true