services:
  toid:
    image: toid 
    build: .
    container_name: toid

    network_mode: host
    ipc: host

    volumes:
      - ./:/ros_ws
      - /dev/:/dev/
      - /sys/:/sys/
      - /run/udev/:/run/udev/

    entrypoint: ["sleep","infinity"]

    profiles:
      - base

  toid_forever:
    image: toid 
    build: .
    container_name: toid

    restart: unless-stopped

    network_mode: host
    ipc: host

    volumes:
      - ./:/ros_ws
      - /dev/:/dev/
      - /sys/:/sys/
      - /run/udev/:/run/udev/

    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"]