From 44fa2f16ab25cf39e591c79efa455900173de9a0 Mon Sep 17 00:00:00 2001
From: pimpest <82343504+pimpest@users.noreply.github.com>
Date: Mon, 13 Jul 2026 22:13:47 +0200
Subject: [PATCH] Modified docker container for running locally

---
 Dockerfile               |  2 +-
 docker-compose.prod.yaml | 37 +++++++++++++++++++++++++++++++++++++
 docker-compose.yaml      | 10 +++++-----
 3 files changed, 43 insertions(+), 6 deletions(-)
 create mode 100644 docker-compose.prod.yaml

diff --git a/Dockerfile b/Dockerfile
index 9df8837..a346087 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -3,7 +3,7 @@ FROM ros:jazzy-perception
 ENV DEBIAN_FRONTEND=noninteractive
 
 # ---------- System dependencies ----------
-RUN apt-get update && apt-get upgrade && apt-get install -y \
+RUN apt-get update && apt-get upgrade -yq && apt-get install -yq \
     python3-colcon-common-extensions \
     python3-rosdep \
     meson cmake \
diff --git a/docker-compose.prod.yaml b/docker-compose.prod.yaml
new file mode 100644
index 0000000..b2fe803
--- /dev/null
+++ b/docker-compose.prod.yaml
@@ -0,0 +1,37 @@
+services:
+  toid:
+    image: localhost:5000/toid 
+    build: .
+    container_name: toid
+
+    privileged: true
+    network_mode: host
+
+    volumes:
+      - ./:/ros_ws
+      - /dev/:/dev/
+      - /sys/:/sys/
+      - /run/udev/:/run/udev/
+
+    entrypoint: ["sleep","infinity"]
+
+    profiles:
+      - base
+
+  toid_forever:
+    image: localhost:5000/toid 
+    build: .
+    container_name: toid
+
+    restart: unless-stopped
+
+    privileged: true
+    network_mode: host
+
+    volumes:
+      - ./:/ros_ws
+      - /dev/:/dev/
+      - /sys/:/sys/
+      - /run/udev/:/run/udev/
+
+    entrypoint: ["bash", "-c", "source install/setup.bash && ros2 launch toid_navigation main.py use_lidar:=False use_mock:=False"]
\ No newline at end of file
diff --git a/docker-compose.yaml b/docker-compose.yaml
index b2fe803..53b8da8 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -1,11 +1,11 @@
 services:
   toid:
-    image: localhost:5000/toid 
+    image: toid 
     build: .
     container_name: toid
 
-    privileged: true
     network_mode: host
+    ipc: host
 
     volumes:
       - ./:/ros_ws
@@ -19,14 +19,14 @@ services:
       - base
 
   toid_forever:
-    image: localhost:5000/toid 
+    image: toid 
     build: .
     container_name: toid
 
     restart: unless-stopped
 
-    privileged: true
     network_mode: host
+    ipc: host
 
     volumes:
       - ./:/ros_ws
@@ -34,4 +34,4 @@ services:
       - /sys/:/sys/
       - /run/udev/:/run/udev/
 
-    entrypoint: ["bash", "-c", "source install/setup.bash && ros2 launch toid_navigation main.py use_lidar:=False use_mock:=False"]
\ No newline at end of file
+    entrypoint: ["bash", "-c", "source /opt/ros/jazzy/setup.bash && colcon build  && source install/setup.bash && ros2 launch toid_navigation main.py use_lidar:=False use_mock:=True"]