compose.yaml

services:
  mrg_slam:
    image: aserbremen/mrg_slam_humble
    network_mode: host
    ipc: host
    pid: host
    user: ${DOCKER_USER}

    environment:
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}

    # Mount the mrg_slam.yaml config as well as the mrg_slam.launch.py launch file in order to reflect the changes in the container
    volumes:
      - ./../src/mrg_slam/config/mrg_slam.yaml:/home/ros_user/ros2_ws/src/mrg_slam/config/mrg_slam.yaml
      - ./../src/mrg_slam/launch/mrg_slam.launch.py:/home/ros_user/ros2_ws/src/mrg_slam/launch/mrg_slam.launch.py

    command: /bin/bash -c "source /opt/ros/${MY_ROS_DISTRO}/setup.bash && \
      source /home/ros_user/ros2_ws/install/setup.bash && \
      ros2 launch mrg_slam mrg_slam.launch.py \
      model_namespace:=${MODEL_NAMESPACE} use_sim_time:=${USE_SIM_TIME} \
      x:=${X:-0.0} y:=${Y:-0.0} z:=${Z:-0.0} roll:=${ROLL:-0.0} pitch:=${PITCH:-0.0} yaw:=${YAW:-0.0} \
      init_odom_topic:=${INIT_ODOM_TOPIC:-NONE} init_pose_topic:=${INIT_POSE_TOPIC:-NONE}"